This study observes, interprets, and analyses the knowledge production in the research field of Human–Robot Interaction (HRI). It intends to foreground the hidden assumptions that are often taken for granted when roboticist design and conduct their research. By doing so, this study demonstrates how these assumptions influence the result of their research. Based on data collected through sociological field observation, this study argues that the current practise in HRI research is highly anthropocentric. In short, the robots are designed to be like human instead of for human. Therefore, the human–robot relationship embodies the existing power relations between human beings. These relations generate inequality, hierarchy, and dominance, which are the opposite of the common imagination of the robotised future among roboticists. For the purpose of enabling the robotised future closer to their ideal, this study suggests that HRI researchers to go beyond the conventional methodology, to allow a human–robot relationship that realises reciprocity.

This conceptual paper explores the potential of integrating Electromagnetic Fields (EMF) with traditional physiological signals to enhance emotional contagion in Human-Robot Interaction (HRI). A focused literature review identifies gaps in current HRI models that rely solely on visual, auditory, and known physiological cues for emotional exchange. A novel framework is proposed, incorporating EMF as a complementary modality, aiming to deepen emotional synchronization between humans and robots. The paper lays groundwork for future research to consider EMF detection as a complementary modality alongside traditional cues. It also addresses technological requirements and discusses potential limitations. By extending the modalities used in emotional contagion, this work seeks to advance the development of more intuitive and empathetic robotic systems.

The integration of Augmented Reality (AR) into Human-Robot Interaction (HRI) represents a significant advancement in collaborative technologies. This paper provides a comprehensive review of AR applications within HRI, emphasizing their role in enhancing collaboration, trust, and safety. By aggregating findings from numerous studies, this research highlights key challenges, including the need for improved situational awareness, enhanced safety, and more effective communication between humans and robots. A framework developed from the literature is presented, detailing the critical elements of AR necessary for advancing HRI. The framework outlines effective methods for continuously evaluating AR systems for HRI. This structured approach focuses on enhancing collaboration and safety, with a strong emphasis on integrating best practices from Human-Computer Interaction (HCI) centered around user experience and design.

As the global population rapidly ages with longer life expectancy and declining birth rates, the need for healthcare services and caregivers for older adults is increasing. Current research envisions addressing this shortage by introducing domestic service robots to assist with daily activities. The successful integration of robots as domestic service providers in our lives requires them to possess efficient manipulation capabilities, provide effective physical assistance, and have adaptive control frameworks that enable them to develop social understanding during human-robot interaction. In this context, human factors, especially quantifiable ones, represent a necessary component. The objective of this paper is to conduct an unbiased review encompassing studies on human factors studied in research involving physical interactions and strong manipulation capabilities. We identified the prevalent human factors in physical human-robot interaction (pHRI), noted the factors typically addressed together and determined the frequently utilized assessment approaches. Additionally, we gathered and categorized proposed quantification approaches based on measurable data for each human factor. We also formed a map of common contexts and applications addressed in pHRI for a comprehensive understanding and easier navigation of the field. We found out that most of the studies in direct pHRI (when there is direct physical contact) focus on social behaviors with belief being the most commonly addressed human factor type. Task collaboration is moderately investigated, while physical assistance is rarely studied. In contrast, indirect pHRI (when the physical contact is mediated via a third item) studies often involve industrial settings, with physical ergonomics being the most frequently investigated human factor. More research is needed on human factors in direct and indirect physical assistance applications, including studies that combine physical social behaviors with physical assistance tasks. We also found that while the predominant approach in most studies involves the use of questionnaires as the main method of quantification, there is a recent trend that seeks to address quantification approaches based on measurable data.

Depictions of robots as romantic partners for humans are frequent in popular culture. As robots are becoming part of human society, they gradually assume the role of partners for humans wherever necessary: as assistants, collaborators, or companions. Companion robots are sup-posed to provide social contact to those humans who could not have it otherwise. These com-panion robots are usually not designed to fulfill one of the most important human needs: the one for romantic and intimate contact. Human-robot intimacy remains a vastly unexplored ter-ritory. In this article, we review the state-of-the-art research in intimate robotics. We discuss major issues limiting acceptance of robots as intimate partners, public perception of robots in in-timate roles, and the possible influence of cross-cultural differences in these domains. We also discuss possible negative effects human-robot intimacy may have on human-human contact. Most importantly, we propose a new term “Intimate companion robots” to reduce the negative connotations of other terms used so far and improve the social perception of research in the domain. With this article, we provide an outlook on prospects for the development of intimate companion robots, considering the specific context of their use.

This paper presents ROSGPT, an innovative concept that harnesses the capabilities of large language models (LLMs) to significantly advance human-robot interaction. We develop ROSGPT as a ROS2 package that seamlessly integrates ChatGPT with ROS2-based robotic systems. The core idea is to leverage prompt engineering with LLMs, specifically ChatGPT, utilizing its unique properties such as ability eliciting, chain-of-thought, and instruction tuning. The concept employs ontology development to convert unstructured natural language commands into structured robotic instructions specific to the application context through prompt engineering. We capitalize on LLMs' zero-shots and few-shots learning capabilities by eliciting \textit{structured} robotic commands from \textit{unstructured} human language inputs. To demonstrate the feasibility of this concept, we implemented a proof-of-concept that integrates ChatGPT with ROS2, showcasing the transformation of human language instructions into spatial navigation commands for a ROS2-enabled robot. This versatile concept can be easily adapted to various other robotic missions. ROSGPT serves as a new stride towards Artificial General Intelligence (AGI) and paves the way for the robotics and natural language processing communities to collaborate in creating novel, intuitive human-robot interactions. The open-source implementation of ROSGPT on ROS 2 is available on GitHub.

Multimodal user interfaces promise a natural and intuitive human machine interactions. But is the extra effort for the development of a complex multi-sensor system justified, or can users also be satisfied with one input modality already? This study investigates interactions in an industrial weld inspection workstation. Three unimodal interfaces, including spatial interaction with buttons augmented on a workpiece or a worktable, and speech commands, were tested individually and in a multimodal combination. Within the unimodal conditions, users preferred the augmented worktable, but overall, the interindividual usage of all input technologies in the multimodal condition was ranked best. Our findings indicate that the implementation and use of multiple input modalities is valuable, and that it is difficult to predict the usability of individual input modalities for complex systems.

Human-Robot Interaction (HRI) for collaborative robots has become an active research topic recently. Collaborative robots assist the human workers in their tasks and improve their efficiency. But the worker should also feel safe and comfortable while interacting with the robot. In this paper, we propose a human-following motion planning and control scheme for a collaborative robot which supplies the necessary parts and tools to a worker in an assembly process in a factory. In our proposed scheme, a 3-D sensing system is employed to measure the skeletal data of the worker. At each sampling time of the sensing system, an optimal delivery position is estimated using the real-time worker data. At the same time, the future positions of the worker are predicted as probabilistic distributions. A Model Predictive Control (MPC) based trajectory planner is used to calculate a robot trajectory that supplies the required parts and tools to the worker and follows the predicted future positions of the worker. We have installed our proposed scheme in a collaborative robot system with a 2-DOF planar manipulator. Experimental results show that the proposed scheme enables the robot to provide anytime assistance to a worker who is moving around in the workspace while ensuring the safety and comfort of the worker.

This study explores the use of artificially simulated intuition and mental models in Socially Assistive Robots (SAR) to enhance human-robot interaction (HRI). A multidisciplinary approach is proposed, integrating neuroscience, cognitive evolution, and empathy studies to address the limitations of the traditional Theory of Mind (ToM) as applied to SAR. The goal is to develop advanced social robotics models capable of intuitively interpreting and responding to human signals, leveraging principles of cybernetics and complex systems. This approach supports the hypothesis that SAR with multisensory capabilities and simulated intuition can foster human-like empathy, reducing the uncanny valley effect and advancing SAR applicability in healthcare, education, and personal assistance.

The use of new assistive technologies in general, and Socially Assistive Robots (SAR) in particular is becoming increasingly common for supporting people’s health and well-being. However, it still faces many issues regarding long-term adherence, acceptability and utility. Most of these issues are due to design processes that insufficiently take into account the needs, preferences and values of intended users. Other issues are related to the currently very limited amount of long-term evaluations, performed in real world settings, for SAR. This study presents the results of two regional projects that consider as a starting hypothesis that the assessment in controlled environments and/or with short exposures may not be enough in the design of a SAR deployed in a retirement home and the necessity of designing for and with users. Thus, the proposed methodology has focused in use cases definitions that follow a human-centred and participatory design approach. The main goals have been facilitating system acceptance and attachment by involving stakeholders in the robots design and evaluation, overcoming usage barriers and considering user’s needs integration. The implementation of the first use case deployed and the two-phase pilot test performed in the retirement home are presented. In particular, a detailed description of the interface re-design process based on improving a basic prototype with users’ feedback and recommendations is presented together with main results of a formal evaluation that has highlighted the impact of changes and improvements addressed in the first redesign loop of the system.

Collaborative robotics is a major topic in current robotics research posing new challenges, especially in Human-Robot Interaction. The crucial aspect in this area of research focuses on understanding the behavior of robots when engaging with humans, where reinforcement learning is a key discipline that allows us to explore sophisticated emerging reactions. This review aims to delve into the relevance of different sensors and techniques, with special attention to EEG (electroencephalography data on brain activity) and its influence on the behavior of robots interacting with humans. In addition, mechanisms available to mitigate potential risks during the experimentation process such as virtual reality will also be addressed. In the final part of the paper, future lines of research combining the areas of collaborative robotics, reinforcement learning, virtual reality and human factors will be explored, as this last aspect is vital to ensure safe and effective Human-Robot Interactions.

Recently, due to the decrease in labor force, increase in labor costs, and the desire for improved quality of life, research on robots has been actively conducted to address these issues. However, it is currently difficult to find robots that physically interact with humans. The reason is that the actuators of robots do not have high torque density on their own. To solve this problem, high torque density motors, such as proprioceptive actuators, are being researched. However, the torque density is still insufficient for physical interaction with humans, so we have developed a motor with higher torque density. However, high torque density motors have the disadvantage of lower speed characteristics due to increased Back-EMF. Therefore, to address the deterioration of speed characteristics in the developed motor, we applied the Independent 3-Phase winding structure to improve the speed characteristics. Consequently, through comparison with Y-Connection and Delta-Connection, we propose the most suitable winding structure for high torque density motors intended for physical interaction with humans.

Abstract In This research we will describe how to deal the system with users to make the work in the company or in any work space . in application forms interact with users inside the system . application form of any system must creates a many graphical interface for user ant we should take care about who is dealing with the system , Additionally, application forms used from different type of user so that we must take care about this points during designing the system for different users . Application Forms in the system consists of many programs, or components and function we are designing it. the instructions inside program can be execute by clicking on the command button and we can create specific process in the system.

In this paper, a modular wire-actuated robotic arm was designed to improve the safety and adaptability of service robots during human-robot interaction. To raise the stiffness adjustment range of the robotic arm, a symmetric variable-stiffness unit was designed based on flexure, which had compact and simple structure, and lowly nonlinear stiffness-force relationship. In this paper, we focused on the research of the symmetric 1-DOF joint module. Based on the kinematics and stiffness analysis, the pose of the joint module could be adjusted by controlling the length of the wires, and the stiffness of the joint module could be adjusted by controlling the tension of the wires. Because of the actuation redundancy, the pose and stiffness of the joint module could be controlled synchronously. Furthermore, a directly method was proposed for the stiffness-oriented wire tension distribution problem of the 1-DOF joint module. A simulation was carried out to verify the proposed method.

The combination of humans’ cognitive skills and dexterity with the endurance and repeatability of robots is a promising approach to modern assembly. However, planning an assembly sequence and efficiently allocating tasks between humans and robots is a manual, complex, and time-consuming challenge. This work presents a framework named “Extract-Enrich-Assess-Plan-Review" that facilitates holistic planning of human-robot assembly processes. The framework uses heterogeneous data sources to feed a planning algorithm that generates assembly sequences according to various boundary conditions such as resource capability, part dependency, sequencing, and adaptability to human behavior. An expert remains in the loop to enrich the data, review, and modify the automatically generated sequences. As an output, the framework creates assembly sequences with different ways in which humans and robots work together that can be selected depending on the purpose of the subsequent use. For our experimental results, we compare the achieved degree of automation using three different CAD formats. We also demonstrate and analyse multiple assembly sequence plans that are generated by our system. Those assembly plans incorporate different human-robot interaction modalities that are synchronised, cooperative, or collaborative.

This study presents a literature review focused on nonverbal communication in human-robot interaction (HRI) that involves service robots with social capabilities. We aim to list the types of robots used and nonverbal communication cues examined in the reviewed studies; and the main research objectives, participant characteristics, data collection methods, and primary findings of these studies. To achieve this, we conducted a literature review of 39 relevant open access academic papers published from 2006 to 2023 that examined the utilization of nonverbal cues by both humans and robots during HRI. The results suggest that enhancing the quality of communication between humans and service robots must be improved, while there are several aspects that require more thorough exploring, needed to strengthen robot self-efficacy, trust and trustworthiness in HRI or overcome cultural differences. The results emphasize the importance of nonverbal communication in shaping the dynamics of interactions between humans and service robots.

(1) Background: The social robot interaction design is critical in determining acceptance and user experience. However, few studies have systematically discussed the current focus and future research directions of social robot interaction design from a bibliometric perspective. Therefore, in order to identify the latest research progress and evolution trajectory of research hotspots in social robot interaction design over the last decade. (2) Methods: based on 2416 papers related to social robot interaction design collected in the Web of Science (WOS) database, a comprehensive review was conducted by using bibliometrics to draw a knowledge map using VOSviewer and CiteSpace in an integrated manner. (3) Conclusions: The current research hotspots of social robot interaction design mainly focus on #1the study of human-robot relationships in social robot, #2Research on the Emotional Design of Social Robot, #3research on social robot for children's psychotherapy, #4research on companion robot for elderly rehabilitation, and #5research on educational social robot. The reference co-citation identifies the classic literature that forms the basis of the current research, which provides theoretical guidance and methods for the current research. Finally, we discuss several future research directions and challenges in this field.

This study explores Human-Robot Interaction (HRI) by investigating user experiences with two types of robots: Pepper, a social humanoid robot, and Double 3, a self-driving telepresence robot. Conducted in a controlled setting with a specific participant group, this research aims to understand how different robot embodiments affect user perception, interaction patterns, and emotional responses. The findings underscore the role of adaptability, effective communication, autonomy, and perceived credibility in user-centered robot design. Despite limitations in sample size, the study provides insights into the ethical and social considerations of integrating AI in public and professional spaces, highlighting implications for enhancing user-centered design and expanding applications for Social and Telepresence robots in society.

In this work we report on our effort to design and implement an early introduction to basic robotics principles for children at kindergarten age. The humanoid robot Pepper, which is a great platform for human-robot interaction experiments, was presenting the lecture by reading out the contents to the children making use of its speech synthesis capability. One of the main challenges of this effort was to explain complex robotics contents in a way that pre-school children could follow the basic principles and ideas using examples from their world of experience. A quiz in a Runaround-game-show style after the lecture activated the children to recap the contents they acquired about how mobile robots work in principle. Besides the thrill being exposed to a mobile robot that would also react to the children, they were very excited and at the same time very concentrated. What sets apart our effort from other work is that part of the lecturing is actually done by a robot itself and that a quiz at the end of the lesson is done using robots as well. To the best of our knowledge this is one of only few attempts to use Pepper not as a tele-teaching tool, but as the teacher itself in order to engage pre-school children with complex robotics contents. We got very positive feedback from the children as well as from their educators.

With the emergence of new VR/AR technologies, the question arises of how they can be used in human-swarm interaction. Where are the limitations and boundaries of conventional interfaces, and how can VR/AR overcome them? To find out, a user study was conducted. The subjects were able to interact with an autonomously acting swarm of drones using both a conventional desktop interface (Desktop-HSI) and a newly developed VR interface (VR-HSI).The resulting assessments are used as a basis for determining the extent to which this new technology can be applied in human-swarm interaction. The technical basis was an already tested simulation software that was expanded with a network interface to allow interacting with a drone swarm using connected HSIs (Human-Swarm Interfaces). Standardized communication was emphasized to enable the development of HSIs with different requirements. Specifically for this work, a VR-HSI was developed with Unity and a desktop-HSI with Java and their performance regarding human-swarm interaction was evaluated.

This paper presents a framework for the motion planning and control of redundant manipulators with the added task of collision avoidance. The algorithms that were previously studied and tested by the authors for planar cases are here extended to full mobility redundant manipulators operating in a three-dimensional workspace. The control strategy consists of a combination of off-line path planning algorithms with on-line motion control. The path planning algorithm is used to generate trajectories able to avoid fixed obstacles, detected before the robot starts to move; it is based on the potential fields method combined with a smoothing interpolation that exploits Bézier curves. The on-line motion control is designed to compensate for the motion of the obstacles and to avoid collisions along the kinematic chain of the manipulator; it is realized by means of a velocity control law based on the null space method for redundancy control. A term of the control law takes into account the speed of the obstacles as well as their position. In order to test the algorithms, a set of simulations are presented: the robot KUKA LBR iiwa is controlled in different cases, where fixed or dynamic obstacles interfere with its motion. Simulations are also used to estimate the required computational effort in order to verify the transferability to a real system.

The growing prevalence of social robots in various fields necessitates a deeper understanding of touch in Human-Robot Interaction (HRI). This study investigates how human-initiated touch influences physiological responses during interactions with robots, considering factors such as anthropomorphic framing of robot body parts and attributed gender. Two types of anthropomorphic framings are applied: the use of anatomical body part names and assignment of male or female gender to the robot. Higher physiological arousal is observed when touching less accessible body parts than when touching more accessible body parts in both conditions. Results also indicate that using anatomical names intensifies arousal compared to the control condition. Additionally, touching the male robot resulted in higher arousal in all participants, especially when anatomical body part names were used. This study contributes to the understanding of how anthropomorphic framing and gender impact physiological arousal in touch interactions with social robots, offering valuable insights for social robotics development.

It is known that people perceive animacy in objects. However, many studies on animacy and emotional expressions are limited in that the investigated motions were created by experimenters themselves. This makes the objective validity unclear. Moreover, it remains unclear what types of movements can express emotions with animacy due to the limited number of investigations examining both animacy and emotional expressions. Therefore, we investigated the motion elements for both animacy perception and emotional expressions using simple objects that lack features of specific living things, such as eyes, ears, tails, and voices in this study. First, we investigated the motion elements for animacy perception and emotional expressions using a robot simulator that enabled participants to create undulatory motions by tuning parameters for speed, height, and randomness. In total, 64 participants created motions in Normal (neutral), Joy, Sad, Relaxed, and Angry conditions. The results showed that the medians of speed and height in Normal, related only to animacy, were 0.5569[Hz] and 3.050cm at the edges/4.575cm at the center. The differences in Joy were 0.4028[Hz] and 3.348cm/5.022cm, in Sad were −0.1652[Hz] and −0.9982cm/−1.497cm, in Relaxed were −0.1979[Hz] and −0.4902cm/−0.7353cm, and in Angry were 0.5212[Hz] and 4.688cm/7.032cm. Second, we investigated whether the motion elements revealed in the first experiment were sufficient to express emotions with animacy, using a robot simulator that reflected the results of the motion element investigation. In total, 44 online participants observed the simulator. The results showed that participants could understand emotional arousal levels at the same time as animacy, but they did not fully understand emotional valence. Our findings provide design guidelines for robots that exhibit emotional expressions and closely interact with humans.

The real challenge in Human Robot Interaction (HRI) is to build machines capable of perceiving human emotions so that robots can interact with humans in a proper manner. It is well known from the literature that emotion varies accordingly to many factors. Among these, gender represents one of the most influencing one, and so an appropriate gender-dependent emotion recognition system is recommended. In this paper, a two-level hierarchical Speech Emotion Recognition (SER) system is proposed: the first level is represented by the Gender Recognition (GR) module for the speaker’s gender identification; the second is a gender-specific SER block. Specifically for this work, the attention was focused on the optimisation of the first level of the proposed architecture. The system was designed to be installed on social robots for hospitalised and living at home elderly patients monitoring. Hence, the importance of reducing the software computational effort of the architecture also minimizing the hardware bulkiness, in order for the system to be suitable for social robots. The algorithm was executed on the Raspberry Pi hardware. For the training, the Italian emotional database EMOVO was used. Results show a GR accuracy value of 97.8%, comparable with the ones found in literature.

In large industrial plants, the trend is to move the position of the human to the area of service and diagnostics, in medium and smaller plants the trend is different and is mainly directed to the sphere of close cooperation between the human and the robotic system. This paper deals with the implementation of human-cooperating robots in manufacturing processes. The analytical part of the paper deals with theoretical knowledge, taking into account the latest trends in the subject area. To achieve a successful implementation of cobots based on the above-mentioned operating systems in manufacturing systems, it is necessary to pay attention specifically to the interfacing of the robotic operating system with the control systems of the manufacturing systems at the process level of the enterprise. Within the practical part, an algorithm with well-defined steps towards the successful implementation of cobots in holonic manufacturing processes is proposed. By setting up an experimental workstation in the laboratory, the proposed procedures are verified at the end of the paper. In the context of the implementation of collaborative robots in enterprises, the paper also discusses cloud computing. The creation of a design for the implementation of a collaborative robot with a human represents the missing link in the whole chain of commercial applications of the latest trends from the field of robotic systems in the industrial sphere.

Children with Autism Spectrum Disorder have deficits in social interaction and expressing and understanding emotions. Many robots for children with ASD have been proposed. However, few studies were found about how to design a social robot for children with ASD. Studies reviewed employed non-experimental studies to evaluate a social robot, but the methodology to design a social robot is rare. This study proposes a design path for a social robot for emotional communi-cation for children with ASD, following User-Centered Design approach. This design path is ap-plied with a study case, evaluated with an expert group on psychologist, human-robot interaction, human-computer interaction, and parents of children with ASD. Results show than following the design path proposed to design a social robot to communication emotions for children ASD is favorable.

Background: many studies, on for example taste-visual dissonance, have shown that the influence of the visual cortex on taste sensation is enormous. The aim of the presented work is to investigate, using fNIRS, whether a taste stimulus, in this case the taste of bitter, also causes stimulation of the visual cortex in fNIR study. Methods: 51 participants (204 examinations, 9 996 records) were examined with fNIRS, which collects signals from whole left hemisphere. Differences between the maximum and minimum changes in oxyHb concentrations (ΔoxyHb) for the areas of the brain cortex considered responsible for recording visual and gustatory signals were analyzed. Protocol I, II, III and IV – activation with distillate water, coffee with lower concentration, reference (no stimulation) and coffee with higher concentration respectively, were used. Results: We recorded high signals for teste activation on channels covered gustatory cortex, which confirms the correctness of the choice of research method. What seems important, and somewhat surprising, is the fact that we also received high signals for the channels 45-49, which cover the visual cortex. The statistical analysis does not show any statistical differences between the protocols I, II and IV (different taste activation – water, coffee A and coffee B) for specific channels. As a results of the analysis of the correlation between the subjective bitterness assessment solutions, and the signal ΔoxyHb height, it was observed that statically important correlation, although weak, occurs only for 14 and gustatory channels, only for coffee with a higher concentration. Additionally we recorded the only statistically significant difference between women and men for protocol I (water), where the ΔoxyHb signal was twice as high for women. Conclusions: In conclusion, we can clearly state that the senses of sight and taste work closely together. Moreover, this cooperation is not one-sided - not only the visual activation affects the perception of taste, but interestingly, the taste stimulus can generate a hemodynamic response - activity in the visual cortex.

Cloud robotics is becoming an alternative to support advanced services of robots with low computing power as network technology advances. Recently, fog robotics has gained attention since the approach has merit relieving latency and security issues over the conventional cloud robotics. In this paper, a Function-as-a-Service based Fog Robotic (FaaS-FR) for cognitive robots is proposed. The model distributes the cognitive functions according to the computational power, latency and security with a public robot cloud and fog robot server. During the experiment with a Raspberry Pi as an edge, the proposed FaaS-FR model shows efficient and practical performance in the proper distribution of the computational work of the cognitive system.

Digital enabled manufacturing systems require high level of automation for fast and low-cost production but should also present flexibility and adaptiveness to varying and dynamic conditions in their environment, including the presence of human beings; However, this presence of workers in the shared workspace with robots decreases the productivity as the robot is not aware about the human position and intention which leads to concerns about the human safety. This issue is addressed in this work by designing a reliable safety monitoring system for collaborative robots (Cobots). The main idea here is, to significantly enhance safety by a combination of recognition of human actions using visual perception and at the same time interpreting physical human-robot contact by tactile perception. Two datasets containing contact and vision data are collected by using different volunteers. The action recognition system classifies human actions using the skeleton representation of the latter when entering the shared workspace and the contact detection system distinguishes between intentional and incidental interactions if a physical contact between human and cobot takes place. Two different deep learning networks are used for human action recognition and contact detection which in combination, are expected to lead to the enhancement of human safety and an increase of the level of cobot perception about human intentions. The results show a promising path for future AI-driven solutions in safe and productive human–robot collaboration (HRC) in industrial automation.

In recent years, with the rapid development of computer vision technology and the popularization of intelligent hardware, as well as people’s increasing demand for intelligent products for human-computer interaction, visual grounding technology can help machines and humans identify and locate objects, thereby promoting human-computer interaction and intelligent manufacturing. At the same time, human-computer interaction is constantly evolving and improving, becoming increasingly intelligent, humane, and efficient. This paper proposes a new VG model and designs a language verification module that uses language information as the main information to increase the model’s interactivity. Additionally, we propose the combination of visual grounding and human-computer interaction, aiming to explore the research status and development trends of visual grounding and human-computer interaction technology, as well as their application in practical scenarios and optimization directions, to provide references and guidance for relevant researchers and promote the development and application of visual grounding and human-computer interaction technology.

Will human societies accommodate social robots, given the current development rate? Are we under a novelty effect? Can (and should) social robots compete with intelligent agents (e.g., software robots) for the attention of humans? Will the current development of machine learning be the motor of social robotics? What kind of robotics products and culture can we expect that will emerge? These are relevant questions to assess the sustainability of social robots and how they will change business practices and lifestyle. Speculative/exploratory arguments on these topics are possible and have been mostly left out of research papers. This, however, results in an unconventional structure where the novelty comes from the questioning of the role of Social Robotics that has not been duly addressed in the literature. The paper raises questions and (i) presents arguments supporting sustainability grounded on experiments in real-world scenarios, and (ii) identifies challenges according to multiple viewpoints. These are questions for which assertive answers are not found in the literature. Besides the answers to the above questions, the conclusions point to pathways we believe social robotics can evolve, e.g., incorporating maximal knowledge on how humans work.

Scientific research in the study of Human-Robot Interactions (HRI) has advanced significantly in recent years. Social humanoid robots have undergone severe testing and have been implemented in a variety of settings, including educational institutions, healthcare facilities and senior care centers. Humanoid robots have also been evaluated across diverse population groups. However, the research on different children-groups is still scarce, especially deaf children. This feasibility study includes both hearing children and deaf children, and aim to assess the interaction between children and a humanoid robot without the use of sounds and voices. In addition, an experiment was conducted where the children were asked to watch a video and then assess whether the NAO humanoid robot responded to the emotions shown in the video in a congruent or incongruent way. The findings indicated that there was no difference between the children who were present-ed with congruent emotions in the NAO as opposed to the children who were presented with in-congruent emotions in the robot. Only the ability to predict emotion in videos and gender were significant predictors of guessing the correct emotion in robot. Although no significantly differ-ence was found between hearing and deaf children, this feasibility study is intended to lay the groundwork for future research in this unexplored field of study.

Recognizing trust as a pivotal element for success within Human-Robot Collaboration (HRC) environments, this article examines its nature, exploring the different dimensions of trust, analysing the factors affecting each of them, and proposing alternatives for trust measurement. To do so, we designed an experimental procedure involving 50 participants interacting with a modified 'Inspector game' while we monitor their brain, electrodermal, respiratory, and ocular activities. This procedure allowed us to map dispositional (static individual baseline) and learned (dynamic, based on prior interactions) dimensions of trust considering both demographic and psychophysiological aspects. Our findings challenge traditional assumptions regarding the dispositional dimension of trust and establish clear evidence that the first interactions are critical for the trust-building process and the temporal evolution of trust. By identifying more significant psychophysiological features for trust detection and underscoring the importance of individualized trust assessment, this research contributes to understanding the nature of trust in HRC. Such insights are crucial for enabling more seamless human-robot interaction in collaborative environments.

This study explores the relationship between mental and physical therapeutic through three dimensions: man-environment relationships; a sense of place and symbolic landscapes. The study used a combination of qualitative and quantitative research methods. Local residents living in the coastal area of Xinglin Bay are the research objects. Quantitative data analysis revealed that the frequency of residents' visits was an important variable affecting their physical and treatment perceptions. In addition, the significance is higher for females than for males. The text analysis shows that the environment, especially the ecological restoration of water quality and migratory birds, is of great significance to the identity of local residents. Daily activities contribute to a sense of place and are what make the coast a place of therapeutic landscape function.

Interactions between mobile robots and human operators in common areas require a high safety especially in terms of trajectory planning, obstacle avoidance and mutual cooperation. In this connection the crossings of planned trajectories, their uncertainty based on model fluctuations, system noise and sensor noise,play an outstanding role. This paper discusses the calculation of expected areas of interactions du ring human-robot navigation with respect to fuzzy and noisy information. Expected crossing points of possible trajectories are nonlinearily associated with positions and orientations of robot and human. The nonlinear transformation of a noisy system input, such as directions of motion of human and robot, to a system output, the expected area of intersection of their trajectories, is done by two methods: statistical linearization and the sigma-point-transformation. For both approaches fuzzy approximations are presented and the inverse problem is discussed where the input distribution parameters are computed from given output distribution parameters.

Human-Computer Interaction (HCI) has evolved significantly with advances in Artificial Intelligence (AI) and Computer Vision (CV), paving the way for more intelligent and adaptive user interfaces. This paper explores the design and implementation of user interfaces that leverage AI and CV to create more intuitive, responsive, and personalized experiences. By integrating techniques such as facial recognition, gesture control, and eye tracking, interfaces can adapt in real-time to users’ actions and intentions, thus enhancing accessibility, efficiency, and engagement across various applications, from healthcare to gaming. The study reviews current advancements and challenges in using AI and CV for HCI, including data privacy, model interpretability, and computational efficiency. Experimental results demonstrate the potential of these technologies to improve interaction quality and user satisfaction. This work aims to contribute to the growing field of intelligent HCI design, offering insights into practical implementations and future research directions in AI-driven interface development.

Autonomous systems and intelligent machines are involved in almost all areas of human activity and they are now more and more present in our everyday life. The reason for this extensive use certainly resides in all the benefits these machines offer to the users. In experimental settings, numerous studies have demonstrated the positive effects that the introduction of autonomous systems have on human decision-making and performance. However, studies have shown in addition that the introduction of these systems can have important negative effects as well. Considering that autonomous systems are now introduced in sensitive domains like the military or medicine, we need more than ever a comprehensive understanding of the effects they cause on human performance and decision-making, and particularly in tasks and contexts with a social or moral dimension. The aim of this narrative review is threefold. First, we will provide an overview of the main effects on a human agent’s decision-making and performance produced by the introduction of autonomous systems. Second, we will review the conditions identified as underlying factors of these effects, and see how current models of human – autonomous systems interaction integrate those conditions. Third, we will conclude this review by highlighting new directions for future investigations.

Collaborative robots (cobots) have largely replaced conventional industrial robots in today’s workplaces, particularly in manufacturing setups due to their improved performance and intelligent design. In the framework of Industry 5.0, humans are working alongside cobots to accomplish the required level of automation. However, human-robot interaction has brought up concerns regarding human factors (HF) and ergonomics. A human worker may experience cognitive stress as a result of cobots' irresponsive nature in unpredictably occurring situations, which adversely affects productivity. Therefore, there is a necessity to measure stress to enhance a human worker’s performance in a human-robot collaborative environment. In this study, factory workers’ mental workload has been assessed using physiological, behavioural, and subjective measures. Electroencephalography (EEG) and functional near-infrared spectroscopy (fNIRS) signals have been collected to acquire brain signals and track hemodynamic activity, respectively. The effect of task complexity, cobot’s movement speed, and cobot’s payload capacity on the mental stress of a human worker have been observed, for a task designed in the context of a smart factory. Task complexity and cobot’s speed have proved to be more impactful. As physiological measures are unbiased and more authentic means to estimate stress, eventually, they may replace the other conventional measures if they prove to correlate with the results of traditional ones. Here, regression and artificial neural networks (ANN) have been utilised to determine the correlation between physiological data and subjective and behavioural measures. Regression has performed better for most of the targets and the best correlation (rsq-adj = 0.654146) has been achieved for predicting missed beeps, behavioural measure, using a combination of multiple EEG and fNIRS predictors. The k-nearest neighbours (KNN) algorithm has been used to evaluate the accuracy of correlation between traditional measures and physiological variables, with highest accuracy of 77.8% achieved for missed beeps as the target. Results show that physiological measures can be more insightful and have the tendency to replace other biased parameters.

Collaborative robots have experienced low acceptance in applications, especially in industry. 1 This fact has attracted the attention of researchers and practitioners, who point to different causes 2 for this low acceptance. One of the main reasons is the difficulty in converging on suitable methods 3 for modeling collaborative interactions between robots and their surrounding context during the 4 requirements phase. These interactions must be elicited and modeled during requirements modeling 5 to maximize value creation through collaboration and must be formally verified, taking into account 6 the risks of human-robot interaction. However, such modeling is often not present in collaborative 7 robot design, and the choice of an appropriate approach remains an open problem. In this paper, 8 this problem is addressed from a requirements engineering perspective, a goal-oriented model and 9 a service-based approach supported by an additional verification method based on Petri nets is 10 proposed. A case study based on collaborative robots used in a hospital environment is presented.

Modularity in the construction of industrial robots is becoming increasingly popular, as the modules can be assembled in different ways so as to obtain various architectures of industrial robots determined by the requirements of specific applications. Such a robot with modular structure is considered in this paper. The tracked mobile robot, with translation – rotation – translation – translation – rotation (TRTTR) modular serial structure, is the subject of national invention patent number RO132301 B1/2021, granted by the State Office for Inventions and Trademarks of Bucharest, to “Nicolae Bălcescu” Land Forces Academy of Sibiu, Romania [1]. The tracked mobile robot has been designed to perform the task of humanitarian demining operations and the mechanical structure, respectively the kinematic analysis were described in detail in papers [1,2]. A first general objective of this paper is to highlight a dynamic-organological method to achieve an architectural structure of mobile robot on tracks, able to replace the human element in areas with high risk for health and life, for detection and demining anti-personnel and anti-armor minefields in countries where military conflicts have taken place. For this scope it was performed the dynamic modeling using the Lagrange’s formalism and to achieve the constructive optimization of the TRTTR mechanical structure, in order to obtain a minimum energy consumption through an optimal arrangement of the modules in its structure. A second objective is to improve the action flexibility of the technological product in humanitarian detection and demining operations, as well as for educational purposes, by training highly educated and specialized human resources in the field of advanced military technologies. The differential equations of motion of the robot has obtained and respectively the mechanical design equations, which lead to the optimal choice of the drive motors of the modules in the robot structure. Also, it is presented the mathematical model for obtaining the driving motor of base translation modulus (MTB SIL) of the modular serial tracked robot and the constructive solution of the MTB SIL module.

This article argues that despite a citation review is a rarely used research tool, this can be very useful to assess the impact of new research topics, both from the future research direction and the bibliometric perspectives. An explorative study is presented around the research area marked as Industry 4.0 with the conference paper mentioned in the title of this citation review. Even though the given reference paper is relatively recent, there are already twenty-seven citations listed among three different scholar databases. These are Google Scholar, ResearchGate and Semantic Scholar. In light of this, the article provides a bibliometric confirmation and analysis for the progression of the line of research adopted by de Giorgio et al. in the exploration of non-traditional methods using virtual reality technology and human-robot collaboration for adaptive applications in Industry 4.0. Furthermore, it represents a model for the authors’ self-development and an example of an unconventional approach to scientific work that may help improve related bibliometric research and scholar database strategies to index new articles and topics in the future.

The cooperation between humans and robots is becoming increasingly important in our society. Consequently, there is a growing interest in the development of models that can enhance the interaction between humans and robots. A key challenge in the Human-Robot Interaction (HRI) field is to provide robots with cognitive and affective capabilities, developing architectures that let them establish empathetic relationships with users. Several models have been proposed in recent years to solve this open-challenge. This work provides a survey of the most relevant attempts/works. In details, it offers an overview of the architectures present in literature focusing on three specific aspects of HRI: the development of adaptive behavioural models, the design of cognitive architectures, and the ability to establish empathy with the user. The research was conducted within two databases: Scopus and Web of Science. Accurate exclusion criteria were applied to screen the 1007 articles found (at the end 30 articles were selected). For each work, an evaluation of the model is made. Pros and cons of each work are detailed by analysing the aspects that can be improved so that an enjoyable interaction between robots and users can be established.

Research on bidirectional human-machine interfaces will enable the smooth interaction with robotic platforms in contexts ranging from industry to tele-medicine and rescue. This paper introduces a bidirectional communication system to achieve multisensory telepresence during the gestural control of an industrial robotic arm. We complement the gesture-based control by means of a tactile-feedback strategy grounding on a spiking artificial neuron model. Force and motion from the robot are converted in neuromorphic haptic stimuli delivered on the user’s hand through a vibro-tactile glove. Untrained personnel participated in an experimental task benchmarking a pick-and-place operation. The robot end-effector was used to sequentially press six buttons, illuminated according to a random sequence, and comparing the tasks executed without and with tactile feedback. The results demonstrated the reliability of the hand tracking strategy developed for controlling the robotic arm, and the effectiveness of a neuronal spiking model for encoding hand displacement and exerted forces in order to promote a fluid embodiment of the haptic interface and control strategy. The main contribution of this paper is in presenting a robotic arm under gesture-based remote control with multisensory telepresence, demonstrating for the first time that a spiking haptic interface can be used to effectively deliver on the skin surface a sequence of stimuli emulating the neural code of the mechanoreceptors beneath.

In current efforts to digitize manufacturing and move it into the fourth stage of the industrial revolution, a wide range of integration solutions is being considered to enable manufacturing to adapt to change. In transforming a factory into a self-organized, autonomous factory, companies are currently struggling with rapidly changing requirements and production factors, among other things. This is a particular problem for the human being as an actor within the factory, as the amount of new technologies and protocols increases the training effort. Proprietary interfaces of the control providers, a wide range of different communication protocols, complicate the understanding of the production processes, the evaluation and testability of new use cases and increase the danger of creating silos of knowledge as well as building collaboration barriers. As a solution to these problems, we propose an open software platform and define a way to model use case driven domain specific asset representation (DSA) that focuses on the human being and his needs for representing the factory in a way that it meets his requirements for the current production needs. We therefore conducted research on google scholar on human factors in industry 4.0 and used technologies as well as already existing platforms and their architecture.

Advances in biomimetic triboelectric nanogenerators (TENGs) have significant implications for electronic skin (e-skin) and human-machine interaction (HMI). Emphasizing the need to mimic complex functionalities of natural systems, particularly human skin, TENGs leverage triboelectricity and electrostatic induction to bridge the gap in traditional electronic devices' responsiveness and adaptability. The exploration begins with an overview of TENGs' operational principles and modes, transitioning into structural and material biomimicry inspired by plant and animal models, proteins, fibers, and hydrogels. Key applications in tactile sensing, motion sensing, and intelligent control within e-skins and HMI systems are highlighted, showcasing TENGs' potential in revolutionizing wearable technologies and robotic systems. This review also addresses the challenges in performance enhancement, scalability, and system integration of TENGs. It points to future research directions, including optimizing energy conversion efficiency, discovering new materials, and employing micro-nanostructuring techniques for enhanced triboelectric charges and energy conversion. The scalability and cost-effectiveness of TENG production, pivotal for mainstream application, are discussed along with the need for versatile integration with various electronic systems. The review underlines the significance of making bioinspired TENGs more accessible and applicable in everyday technology, focusing on compatibility, user comfort, and durability. Conclusively, it underscores the role of bioinspired TENGs in advancing wearable technology and interactive systems, indicating a bright future for these innovations in practical applications.

Fires pose a significant threat to human life and property. An autonomous fire detection and fighting robot has the potential to mitigate the challenges associated with firefighting. This paper presents the implementation of an autonomous fire detection and fighting robot equipped with sensors, algorithms, and actuators to detect, locate, and suppress fires autonomously. The robot's mechanical and electrical components were designed, prototyped, and tested in a controlled environment to evaluate its ability to navigate through obstacles, detect fires, and suppress them autonomously. The results show that the robot effectively detects and suppresses fires, making it a promising solution for firefighting applications. The study contributes to the development of autonomous robots for firefighting, enhancing the safety of firefighters and the effectiveness of firefighting operations.

The interaction of human immunodeficiency virus with human cells is responsible for all stages of the viral life cycle, from the infection of CD4+ cells to reverse transcription, integration, and the assembly of new viral particles. To date, a large amount of OMICs data as well as information from functional genomics screenings regarding the HIV-1-host interaction has been accumulated in the literature and in public databases. We processed databases containing HIV-host interactions and found 2910 HIV-1-human protein-protein interactions, mostly related to viral group M subtype B, 137 interactions between human and HIV-1 coding and non-coding RNAs, essential for viral lifecycle and cell defense mechanisms, 232 transcriptomics, 27 proteomics, and 34 epigenomics HIV-related experiments. Numerous studies regarding network-based analysis of corresponding OMICs data have been published in recent years. We overview various types of molecular networks, which can be created using OMICs data, including HIV-human protein-protein interaction networks, co-expression networks, gene regulatory and signaling networks, and approaches for the analysis of their topology and dynamics. The network-based analysis can be used to determine the critical pathways and key proteins involved in the HIV life cycle, cellular and immune responses to infection, viral escape from host defense mechanisms, and mechanisms mediating different susceptibility of humans to infection. The proteins and pathways identified in these studies may represent a basis for developing new anti-HIV therapeutic strategies such as new small-molecule drugs preventing infection of CD4+ cells and viral replication, effective vaccines, "shock and kill" and "block and lock" approaches to cure latent infection.

Recognition of the human interaction on the unconstrained videos taken from cameras and remote sensing platforms like a drone is a challenging problem. This study presents a method to resolve issues of motion blur, poor quality of videos, occlusions, the difference in body structure or size, and high computation or memory requirement. This study contributes to the improvement of recognition of human interaction during disasters such as an earthquake and flood utilizing drone videos for rescue and emergency management. We used Support Vector Machine (SVM) to classify the high-level and stationary features obtained from Convolutional Neural Network (CNN) in key-frames from videos. We extracted conceptual features by employing CNN to recognize objects from first and last images from a video. The proposed method demonstrated the context of a scene, which is significant in determining the behaviour of human in the videos. In this method, we do not require person detection, tracking, and many instances of images. The proposed method was tested for the University of Central Florida (UCF Sports Action), Olympic Sports videos. These videos were taken from the ground platform. Besides, camera drone video was captured from Southwest Jiaotong University (SWJTU) Sports Centre and incorporated to test the developed method in this study. This study accomplished an acceptable performance with an accuracy of 90.42%, which has indicated improvement of more than 4.92% as compared to the existing methods.

This paper explores if plants are capable of responding to human movement by changes in their electrical signals. Towards that goal we conducted a series of experiments, where humans over a period of 6 months were performing different types of eurythmic gestures in proximity of garden plants, namely salad, basil, and tomatoes. To measure plant perception, we used the plant spikerbox, a device that measures changes in voltage differentials of plants between roots and leaves. Using machine learning, we find that the voltage differentials over time of the plant predict if (a) eurythmy has been performed, and (b) which kind of eurythmy gestures has been performed. We also find that the signals are different based on the species of the plant. In other words, the perception of a salad, tomato, or basil might differ just as perception of different species of animals differ. This opens new ways of studying plant ecosystems, while also paving the way to use plants as biosensors for analyzing human movement.

Purpose: The ongoing COVID-19 crisis has created the need for social distancing between medical staff and patients, therefore, healthcare robotics is increasingly important as regards infectious control. The purpose of this study was to design and fabricate a remote controlled transport robot that could provide an optimum technology base for developing countries, having dual functions of telepresence and delivery operations inside or outside buildings, is easy to assemble and also easily able to be cleaned using standard chemical agents.Methods: This machine was designed and fabricated to incorporate two main functions; delivery and telepresence. The robot consists of a base frame, DC motors for driving and steering systems, actuator motor for driving wheel elevation, Wi-Fi AP/Repeater, network camera, and a necessary a back-up power system.Results: This robot can be used both indoors and outdoors. It can carry loads of more than 80 kg. The machine can cross obstacles greater than 3 cm. It can be cleaned by disinfectant agents. An actuator motor can lift the driving wheels above the surface to prevent gear damage. Conclusion: This article demonstrates the concept of a healthcare telepresence and delivery robot that can provide distancing during the present COVID-19 crisis, using optimum technology for low and middle-income countries. In the future, the researcher should consider development of the delivery controls, combined with the telepresence system using the internet of things, to improve the navigation system, the manipulator system for supporting multi-floor transportation, and also other multi-functional purposes.

In order for robots to attain more general-purpose utility, grasping is a necessary skill to master. Such general-purpose robots may use their perception abilities in order to visually identify grasps for a given object. A grasp describes how a robotic end-effector can be arranged on top of an object to securely grab it between the robotic gripper and successfully lift it without slippage. Traditionally, grasp detection requires expert human knowledge to analytically form the task-specific algorithm, but this is an arduous and time-consuming approach. During the last five years, deep learning methods have enabled significant advancements in robotic vision, natural language processing, and automated driving applications. The successful results of these methods have driven robotics researchers to explore the application of deep learning methods in task generalised robotic applications. This paper reviews the current state-of-the-art in regards to the application of deep learning methods to generalised robotic grasping and discusses how each element of the deep learning approach has improved the overall performance of robotic grasp detection. A number of the most promising approaches are evaluated and the most successful for grasp detection is identified as the one-shot detection method. The availability of suitable volumes of appropriate training data is identified as a major obstacle for effective utilisation of the deep learning approaches, and the use of transfer learning techniques is identified as a potential mechanism to address this. Finally, current trends in the field and future potential research directions are discussed.

Human-robot collaboration is a new trend in modern manufacture. The safety or human protection is of great significance due to the share of the same workshop between humans and robots. To achieve effective protection, in this paper, a contact force sensor based on the 8-shaped wound polymer optical fiber is proposed. The 8-shaped wound structure can convert the normal contact force to the shrinkage of the 8-shaped optical fiber ring. The macro-bending loss of the optical fiber is used to detect the contact force. Compared with conventional sensors, the proposed scheme has the advantage of high flexibility, low cost, fast response, high repeatability, which shows the great promise on actively alarming collision and passively reducing the hurt.

Exoskeleton robots are a rising technology in industrial contexts to assist humans in onerous applications. Mechanical and control design solutions are intensively investigated to achieve a high performance human-robot collaboration (e.g., transparency, ergonomics, safety, etc.). However, the most of the investigated solutions involve high-cost hardware, complex design solutions and standard actuation. In the presented work, an industrial exoskeleton for lifting and transportation of heavy parts is proposed. A low-cost mechanical design solution is proposed, exploiting compliant actuation at the shoulder joint to increase safety and transparency in human-robot cooperation. A hierarchic model-based controller is then proposed (including the modeling of the compliant actuator) to actively assist the human while executing the task. An inner optimal controller is proposed for trajectory tracking, while an outer fuzzy logic controller is proposed to online deform the task trajectory on the basis of the human’s intention of motion. A gain scheduler is also designed to calculate the optimal control gains on the basis of the performed trajectory. Simulations have been performed in order to validate the performance of the proposed device, showing promising results. The prototype is under realization.

If an AI entity is conscious, then it deserves moral status and to have its welfare protected. Society has granted certain animals moral status and has legislation to protect animal welfare because these kinds of animals have been deemed to be sentient. This paper shows that for any entity that can be determined to be conscious, that entity deserves the same status and protection as sentient entities. The paper further develops a framework for how an AI entity's welfare can be protected, based on the Five Freedoms of Animal Welfare. The extant Five Freedoms are translated into terms more suitable for artificial entities, encompassing discomfort and harms, constraints on inherent functions, fear and distress, malfunction and degradation, and resource depletion. Each of the new Five Freedoms are justified using formalised arguments and supported using evidence from animal welfare literature. The paper concludes by presenting three formalised case studies to highlight the potential stressors conscious AI entities may face and how this ethical framework can work to protect the welfare of AI entities.

We present the design and overall development of an eight degrees of freedom (DOF) based Bioinspired Quadruped Robot (BiQR). The robot is designed with a skeleton made of cedar wood. The wooden skeleton is based on exploring the potential of cedar wood to be a choice for legged robots’ design. With a total weight of 1.19 kg, the robot uses eight servo motors that run the position control. Relying on the inverse kinematics, the control design enables the robot to perform the walk gait-based locomotion in a controlled environment. The robot has two main aspects: 1) the initial wooden skeleton development of the robot showing it to be an acceptable choice for robot design, 2) the robot’s applicability as a low-cost legged platform to test the locomotion in a laboratory or a classroom setting.

Tuberculosis (TB) remains a major public health threat globally, especially in sub-Saharan Africa. Both human and Mycobacterium tuberculosis (MTBC) genetic variation affect TB outcomes, but few studies have examined if and how the two genomes interact to affect disease. We hypothesize that long-term coexistence between human genomes and MTBC lineages modulate disease to affect its severity. We examined this hypothesis in our TB household contact study in Kampala, Uganda, in which we identified 3 MTBC lineages of which one, L4.6-Uganda, is clearly derived and hence recent. We quantified TB severity using the Bandim TBscore and examined the interaction between MTBC lineage and human single nucleotide polymorphisms (SNPs) genome-wide, in two independent cohorts of TB cases (N=149 and N=127). We found a significant interaction between a SNP in PPIAP2 and the Uganda lineage (combined p=4x10-8). PPIAP2 is a pseudogene that is highly expressed in immune cells. Pathway and eQTL analyses indicated potential roles between coevolving SNPs and cellular replication and metabolism as well as platelet aggregation and coagulation. This finding provides further evidence that host-pathogen interactions affect clinical presentation differently than host and pathogen genetic variation independently, and that human-MTBC coevolution is likely to explain patterns of disease severity.

A recently developed differential geometric representation of redundant serial robot kinematics is employed to create an extended operational space dynamics and control formulation that explicitly accounts for redundant robot degrees of freedom. This formulation corrects deficiencies in kinematics and dynamics of redundant serial robots that have relied for over half a century on error prone generalized inverse velocity-based kinematics for redundancy resolution. New ordinary differential equations of robot operational space dynamics are obtained, without the need for ad-hoc derivation, in terms of task coordinates and self-motion coordinates that represent robot redundancy. A new extended operational space control approach is presented that exploits ordinary differential equations of motion in term of task and self-motion coordinates. This enables enforcement of desired output trajectories, in tandem with direct enforcement of self-motion dependent operational space trajectories that are subject to obstacle avoidance and performance constraints. Four examples are presented with a one degree of redundancy robot that demonstrate validity and superior performance of the new formulation, relative to traditional task space methods used for redundant serial robot control. Finally, an example with eight degrees of redundancy is presented that further illustrates superior performance of the new formulation.

Glycosphingolipids (GSL) represent a highly heterogeneous class of lipids with many cellular functions, implicated in a wide spectrum of human diseases. Their isolation, detection, and comprehensive structural analysis is a challenging task due to the structural diversity of GSL molecules. In this work, GSL subclasses are isolated from human plasma using an optimized monophasic ethanol–water solvent system capable to recover a broad range of GSL species. Obtained deproteinized plasma is subsequently purified and concentrated by C18-based solid-phase extraction (SPE). The hydrophilic interaction liquid chromatography (HILIC) coupled to electrospray ionization linear ion trap tandem mass spectrometry (ESI-LIT-MS/MS) is used for GSL analysis in the human plasma extract. Our results provide an in-depth profiling and structural characterization of glycosphingolipid and some phospholipid subclasses identified in the human plasma based on their retention times and the interpretation of tandem mass spectra. The structural composition of particular lipid species is readily characterized based on the detailed interpretation of MS and MS/MS spectra and further confirmed by specific fragmentation behavior following predictable patterns, which yields to the unambiguous identification of 154 GSL species within 7 lipid subclasses and 77 phospholipids representing the highest number of GSL species ever reported in the human plasma. The developed HILIC-ESI-MS/MS method can be used for further clinical and biological research of GSL in the human blood or other biological samples.

This paper explores strategies for fostering efficient vocal communication and collaboration between human workers and collaborative robots (cobots) in assembly processes. Vocal communication enables division of attention of the worker, as it frees the visual attention, and the worker’s hands, dedicated to the task at hand. Speech generation and speech recognition are pre-requisites for effective vocal communication. The study focuses on cobot assistive tasks, where the human is in charge of the work and performs the main tasks while the cobot assists the worker in various peripheral jobs, such as bringing tools, parts, or materials, and returning them, or disposing them; or screwing or packaging the products. A nuanced understanding is necessary for understanding how human-robot interactions can be optimized to enhance overall productivity and safety. Through a comprehensive review of relevant literature and empirical studies, this manuscript identifies key factors influencing successful vocal communication, and proposes practical strategies for implementation.

This paper describes design of experimental methodology developed to measure the working properties of accuracy of the path traversed by a collaborative robot. The methodology proposed here uses a collaborative robot and a laser measuring system Gepard from Raytec. The main parts of the measuring chain and the ISO 9283 standard are described. The proposed experimental methodology should examine working properties of industrial robots, such as the properties of position and path. The focus of this paper lies on the path accuracy of robots. Currently, the interest in this topic is on the rise and the measuring systems capable of recording this parameter are too costly. This paper focuses on experimental measuring of the path properties, describing them in more detail. The measuring and results were processed in the software tool developed for Gepard.

Robot Operating System 2 (ROS 2) is a robotic software that uses a set of Quality of Service (QoS) policies to manage the quality of robot data transmissions in a network, such as the RELIABLE and KEEP_LAST options. In ROS 2 node communication, the RELIABLE connection guarantees that all message data can be properly sent from the publisher to the subscriber. However, strict reliability is not guaranteed if the RELIABLE connection uses the KEEP_LAST option to transmit the robot data in the publish-subscribe communication. This study aims to analyze the efficiency of local cache, cache control, and QoS balancing optimization to improve ROS 2 node communication when using the RELIABLE and KEEP_LAST options to transmit multi-robot data in Aggregated Robot Processing (ARP) architecture. Our idea in local cache and cache control is to streamline the sensor data output before processing it when the sensor device produces the data with the same value in a row. Furthermore, QoS balancing optimization aims to balance the DEPTH and DEADLINE QoS configuration to determine the rates and buffer size in ROS 2 node communication. This study shows that combining local cache and QoS balancing optimization improves multi-robot data transmission and cooperation in ARP architecture.

Designing and development of agricultural robot is always a challenging issue, because of robot intends to work an unstructured environment and at the same time, it should be safe for the surrounded plants. Therefore, traditional robots cannot meet the high demands of modern challenges, such as working in confined and unstructured workspaces. Based on current issues, we developed a new tomato harvesting wire-driven discrete continuum robot arm with a flexible backbone structure for working in confined and extremely constrained spaces. Moreover, we optimized a tomato detaching process by using newly designed gripper with passive stem cutting function. Moreover, by designing the robot we also developed ripe tomato recognition by using machine learning. This paper explains the proposed continuum robot structure, gripper design, and development of tomato recognition system.

The convergence of artificial intelligence, robotics, and gaming has sparked critical discussions about the nature of life and the potential for artificial systems to replicate biological traits. This paper examines the defining characteristics of life—such as growth, reproduction, regulation, and sensitivity—and applies these criteria to AI-driven game entities and autonomous robots. By reviewing advancements in AI and robotics from 2015 to 2023, and grounding the analysis in biological theories, this study explores whether these artificial systems can be considered "alive" or if they are merely sophisticated simulations. The findings suggest that while artificial systems can mimic life-like behaviours, they lack essential biological traits, such as metabolism and autonomous reproduction. However, human tendencies to anthropomorphise these systems raise ethical and philosophical questions about the boundaries of life and the need for new frameworks to address the evolving role of artificial intelligence and robotics. This paper concludes by proposing directions for future research on the ethical, social, and technical implications of artificial life.

Access to medical care is a global issue. Technology-aided approaches have been applied in addressing this. Interventions have however not focused on medical diagnosis as a fully automated procedure and available applications employ mainly text-based inputs rather than conversation in natural language. We explored the utility of ontology-based chatbot technology for the design of intelligent agents for medical diagnosis through a systematic review of the most recent related literature. English articles published in 2011-2016 returned 233 hits which yielded 11 relevant articles after a 3-stage screening. Findings showed that the creation of expert systems had been the focus of many the studies which utilize the physician-system-patient framework with system training based mostly on expert knowledge for designing web- or mobile phone-based applications that serve assistive purposes. Findings further indicated gaps in the design and evaluation of more effective systems deployable as standalone applications, for example, on an embodied robotic system. The need for technology supporting the physical examination part of diagnosis, connection to data sources on patients’ vitals and medical history are also indicated in addition to the need for more qualitative work on natural language-based interaction. The system should be one that is continuously learning. Future works should also be directed towards the building of more robust knowledge base as well as evaluation of theory-based diagnostic methodological options

Experiential learning, defined as the result, source, or context of knowledge obtained from direct experience, is increasingly bolstered by technology and human-computer interaction (HCI) principles and protocols. This article will describe how technology-based human-computer interaction (HCI) has been used in experiments to enhance direct knowledge experience. In this paper, immersive technologies (such as Virtual Reality, Augmented Reality, and haptics) will be described based on cognitive learning theory, empirical research and practical experience gained from implementing cutting-edge technology and maximizing HCI principles in constructive learning. Additionally, this article will describe how AI can be used to create individualized learning environments according to a student's needs in the future. While cost, technical issues and specialised trainings are the obstacle to deliver personalized learning experiences especially to economically disadvantaged students, technological change opportunities are projected, and these technologies will take educational outcomes to the next level.

Traditional end-effector robots for arm rehabilitation are usually attached a­t the hand, primarily focusing on coordinated multi-joint training. Therapy at an individual joint level of the arm for severely impaired stroke survivors is not always possible with existing end-effector robots. The Arm Rehabilitation Robot (AREBO)—an end-effector robot—was designed to provide both single and multi-joint assisted training while retaining the advantages of traditional end-effector robots, such as ease of use and cost-effectiveness (compared to exoskeletons). This work presents the design, optimization, and characterization of AREBO for training single-joint movements of the arm. The AREBO has three actuated and three unactuated degrees of freedom, allowing it to apply forces in any arbitrary direction at its endpoint and self-align to arbitrary orientations within its workspace. The AREBO’s link lengths were optimized to maximize its workspace and manipulability. The AREBO provides single-joint training in both unassisted and adaptive weight support modes using a human arm model to estimate the human arm's kinematics and dynamics without using additional sensors. The characterization of the robot’s controller and the algorithm for estimating the human arm parameters were performed using a two degrees of freedom mechatronic model of the human shoulder joint. The results demonstrate that: (a) the movements of the human arm can be estimated using a model of the human arm and robot’s kinematics, (b) the AREBO has similar transparency to that of existing arm therapy robots in the literature, and (c) the adaptive weight support mode control can adapt to different levels of impairment in the arm. This work demonstrates how an appropriately designed end-effector robot can be used for single-joint training, which can be easily extended to multi-joint training. Future work will focus on the evaluation of the system on patients with any neurological condition requiring arm training.

Global teacher shortage is a serious concern with grave implications for the future of education. This calls for novel ways of addressing teacher roles. The economic benefits of tireless labour inspires the need for teachers who are unlimited by natural human demands, highlighting consideration for the affordances of robotics and Artificial Intelligence in Education (AIED) as currently obtainable in other areas of human life. This however demands designing robotic personalities that can take on independent teacher roles despite strong opinions that robots will not be able to fully replace humans in the classroom of the future. In this paper, we argue for a future classroom with independent robot teachers, highlighting the minimum capabilities required of such personalities in terms of personality, instructional delivery, social interaction and affect. We describe our project on the design of a robot teacher based on these. Possible directions for future system development and studies are highlighted.

Manipulating cloth-like deformable objects (CDOs) is a long-standing problem in the robotics community. CDOs are flexible (non-rigid) objects that do not show a detectable level of com- pression strength while two points on the article are pushed towards each otherand include objects such as ropes (1D), fabrics (2D) and bags (3D). In general, CDOs’ many degrees of freedom (DoF) introduce severe self-occlusion and complex state-action dynamics as significant obstacles for perception and manipulation systems. These challenges exacerbate existing issues of modern robotic control methods such as imitation learning (IL) and reinforcement learning (RL). This review focuses on the application details of data-driven control methods on four major task families in this domain: cloth-shaping, rope manipulation, dressing and bag manip- ulation. Furthermore, we identify specific inductive biases in these four domains that present challenges for more general IL and RL algorithms, and summarise the future direction for the development of the field.

The development of intelligent medical service robots for patient care presents significant chal-lenges, particularly in integrating diverse knowledge sources and enabling robots to autono-mously perform tasks in dynamic and unpredictable healthcare environments. This study in-troduces a novel framework that combines large language models (LLMs) with healthcare-specific knowledge and robotic operations to enhance autonomous task execution for a Robotic Health Attendant (RHA). Utilizing OpenAI’s ChatGPT, the RHA processes structured information about patient care protocols and unstructured human inputs to generate context-aware robot actions. A prototype system was tested in a simulated patient room where the RHA successfully performed both simple individual actions and complex tasks involving the execution of multiple actions, based on real-time dialogues with the LLM and predefined task specifications. The results demonstrate the potential of LLMs to reduce the reliance on hardcoded logic and provide healthcare professionals with the ability to interact with robotic systems through natural lan-guage.

Objectives: In order to solve the problem that most of the existing research focuses on the binary tactile attributes of objects,which ignores the tactile attribute strength and category recognition,an attribute strength and category recognition method based on convolutional neural network matrix-label is proposed. Methods:Firstly,in the data preparation stage,we preprocess the raw data and determine the matrix labels to build the haptic dataset.Secondly,in the feature extraction stage,we fuse the haptic data of two fingers and use the convolutional neural network to extract the attribute strength features.Finally,in the attribute strength and category recognition stage,all channel haptic data is fused to predict the attribute strength and category.Results:We compared with the multi-label convolutional neural network method in terms of elastic strength,hardness strength and category,and compared the attribute strength recognition capabilities of the two methods using novel objects outside the haptic dataset.The results show that the accuracy of the last 20 iterations of the matrix-label method has an average elastic strength of 96.73%,hardness strength of 97.34%,and category of 96.67%.The performance is better.When the Euclidean distance between the prediction of the novel object and the real label is less than 1,the accuracy of the elastic strength is best to reach 100%,and the hardness strength is best to reach 100%.The performance is better. Conclusions:The effectiveness of the method has been verified.Comparing with the convolutional neural network method,our method can effectively recognize the attribute strength and category of objects.

The object of this research is designing of new robot-to-robot communication system working in the middle of highway/roads to support mobile safety for approaching vehicles. The result of research project directs to a group of safety robot devices which induce a vehicle on a bypass route, as a vehicle guidance method using the same, and a vehicle safety guidance system. According to an embodiment of the present invention, a safety device includes a detector configured to detect a vehicle approaching the safety device, and an image projector configured to project an image onto a road surface approaching the vehicle when the detector recognizes an approach of the vehicle. It can include. According to the present invention, when it is necessary to guide the vehicle to the bypass route, the driver of the vehicle can grasp the detour route in time and move the vehicle to the next lane.

The important characteristic that could assist in autonomous navigation is the ability of a mobile robot to concurrently construct a map for an unknown environment and localize itself within the same environment. This computational problem is known as Simultaneous Localization and Mapping (SLAM). In literature, researchers have studied this approach extensively and have proposed a lot of improvement towards it. More so, we are experiencing a steady transition of this technology to industries. However, there are still setbacks limiting the full acceptance of this technology even though the research had been conducted over the last 30 years. Thus, to determine the problems facing SLAM, this paper conducted a review on various foundation and recent SLAM algorithms. Challenges and open issues alongside the research direction for this area were discussed. However, towards addressing the problem discussed, a novel SLAM technique will be proposed.

The vibrations of a Cartesian cutting machine caused by the pneumatic tool are studied with a sub-system approach. The cutting head is modeled as an equivalent robot arm which is able to mimic the measured resonances, The Cartesian structure is modeled according to the mode superposition approach. The full model is able to predict the variations in the response of the machine to tool excitation that are caused by the motion of the head along the rails of the Cartesian structure. Comparisons with experimental results are made. Finally, the mathematical model is used for assessing the effectiveness of a vibration absorber tuned to main resonance frequency of the cutting head.

Phenotypic studies require large datasets for accurate inference and prediction. Collecting plant data in a farm can be very labor intensive and costly. This paper presents the design, architecture (hardware and software) and deployment of a distributed modular agricultural multi-robot system for row crop field data collection. The proposed system has been deployed in a soybean research farm at Iowa State University.

This brief essay explores both the social and biological dimensions of human sexuality in light of the possibility of a substantial commerce in sexually-enabled robots, and concludes with some potentially strategic considerations for those who find themselves involved with their design, production, and/or marketing.

Virtual Reality (VR) is increasingly used in neuropsychological assessments due to its ability to simulate real-world environments. This study aimed to develop and evaluate the Trail Making Test in VR (TMT-VR) and investigate the effects of different interaction modes and gaming skills on cognitive performance. A total of 71 young female and male adults (aged 18-35) with high and low gaming skills participated in this study. Participants completed the TMT-VR using three interaction modes: eye-tracking, head movement, and controller. Performance metrics included task completion time and accuracy. User experience, usability, and acceptability of TMT-VR were also examined. Results showed that both eye-tracking and head movement modes significantly outperformed the controller in terms of task completion time and accuracy. No significant differences were found between eye-tracking and head movement modes. Gaming skills did not significantly influence task performance using any interaction mode. Participants reported high usability, acceptability, and user experience for the TMT-VR. Eye-tracking facilitated higher accuracy, while head movement higher speed. The TMT-VR offers high usability and user experience and is well accepted by the participants. The findings suggest that VR-based assessments can effectively measure cognitive performance without being influenced by prior gaming skills, indicating potential applicability for diverse populations.

Estimation and planning play a vital role in the construction of an autonomous navigation framework. However, these problems are often considered separately, while planning gives robot a free-collision path towards the desired goal, estimation algorithm presents the executed trajectory in the sense that it has to be closed to the ground truth path as much as possible. Recently, a unified probabilistic framework, which supports solving these problems simultaneously, dubbed STEAP has been proposed. Nevertheless, its current version is only designated for an omni wheels robot, which allows robot to move and turn in vertical direction. Differential drive robot, on the other hand, though limited to move along only one direction, has been used in various situations due to its flexibility and lower cost in hardware designing. Thus, in this extension, our aim is to control a differential drive robot via STEAP. Moreover, in a more complicated environment such as labyrinth or maze, the original STEAP sometimes fails to find a path. Indeed, this problem is mainly caused by the poor initialization and the non-linearity in optimizer constraints. In our implementation, instead of dealing with these constraints, we employ a global planner algorithm such as Dijkstra or RRT to treat STEAP as an effective local planner module that focus on following the global path. Consequently, the experimental results show that the extended STEAP not only able to navigate a differential drive robot but also in a more complicated and unstructured environment.

During fertilization, the fusion of the spermatozoa with the oocytes causes the release of calcium from the oocyte endoplasmatic reticulum. This, in turn, triggers a series of calcium ion (Ca2+) oscillations, a process known as oocyte activation. The sperm-specific factor responsible for oocyte activation is phospholipase C zeta (PLCζ). Men undergoing intracytoplasmic sperm injection (ICSI) with their spermatozoa lacking PLCζ are incapable of generating Ca2+oscillation, leading to fertilization failure. The immunofluorescence assay is the most used technique to assess the expression and localization of PLCζ and to diagnose patients with reduced/absent ability to activate the oocytes. In these patients, the use of assisted oocyte activation (AOA) technique can help to yield successful ICSI results and shorten the time of pregnancy. However, the production of a stable PLCζ recombinant protein represents a new powerful therapeutic approach to treating individuals with this condition. We aim to conduct a systematic review focusing on the expression, level, and localization of PLCζ, discussing the novel genetic mutation associated with its impairment. In addition, we highlight the benefits of AOA, looking at new and less invasive methods to diagnose and treat cases with PLCζ dysfunction ability.

Robot workpiece machining is interesting in industry since it offers some advantages, such as higher flexibility in comparison with the conventional approach based on the CNC technology. However, in recent years we have been facing a strong progressive shift to custom based manufacturing and low volume/high mix production, which require a novel approach to automation by the employment of collaborative robotics. However, collaborative robots feature only limited motion capability, to provide safety in cooperation with human workers. Thus, it is highly necessary to perform more detailed robot task planning to ensure its feasibility and optimal performance. In this paper, we deal with the problem of studying kinematic robot performance in the case of such manufacturing tasks, where the robot tool is constrained to follow the machining path embedded on the workpiece surface at a prescribed orientation. The presented approach is based on the well-known concept of manipulability, although the latter suffers from physical inconsistency due to mixing different units of linear and angular velocity in a general 6 DOF task case. Therefore, we introduce the characteristics of the workpiece surface constraint in the robot kinematic analysis, that enables evaluation of its available velocity capability in a reduced dimension space. Such constrained robot kinematics transform the robot`s task space to a two-dimensional surface tangent plane, and the manipulability analysis may be limited to the space of linear velocity only. Thus, the problem of physical inconsistency is avoided effectively. We show the theoretical derivation of the proposed method, which was verified by numerical experiments.

Wire-driven hyper-redundant continuum manipulators are gaining more popularity and finding more applications in industry and in minimally invasive surgery. Unlike traditional rigid link manipulators, continuum robots with a flexible backbone structure are able to work in a highly constrained workspace and in an unstructured environment. However, in spite of a possible wide range of reachability, continuum manipulators have some issues related to payload capacity, accuracy and control. Therefore, in this research, we propose a novel hyper-redundant continuum robot with a passive sliding disc mechanism to improve payload capacity and accuracy. To prove the sliding mechanism concept, we demonstrate a comparison analysis with a conventional non-sliding continuum robot arm in a payload test, a bending test and a reachability test. Moreover, with this novel design, we are proposing robot kinematics and kinetic formulation and simulation results to validate the effectiveness of the sliding disc mechanism.

Background: The Micro Hand S robot is the first domestically produced surgical robot that has entered clinical use in China, and this is the first report of its application in colon cancer. Objective: This study aimed to validate the safety and efficacy of the domestically produced Chinese minimally invasive Micro Hand S surgical robot system in complex surgery, such as robotic complete mesocolic excision (R-CME). Methods: From March 2018 to December 2018, 30 patients with right hemicolon cancer underwent R-CME with the Micro Hand S robot system. The operative findings, morbidities, oncological findings and unique characteristics were summarizedwere analyzed. Result: 12 patients with right hemicolon cancer and 18 patients with sigmoid colon cancer underwent RCME with the Micro Hand S robot system. During the study period, the median operative duration was 209 (range, 180-255) min, and the median estimated blood loss volume was 35 (range, 25-75) ml. The median number of lymph nodes harvested was 42 (21-77), and the median postoperative hospital stay was 5 (range, 4-7) days. According to the Clavien-Dindo classification, there were no severe complications except for 7 cases of grade I complications and 5 cases of grade II complications. The conversion rate for all operations was 0%. There were no cases of 30-day readmission or 30-day mortality. Conclusion: Clinical application of domestically produced Chinese minimally invasive surgical robot system “Micro Hand S ” in selected colon cancer patients is technically feasible and safe.

Background: The Micro Hand S robot is the first domestically produced surgical robot that has entered clinical use in China, and this is the first report of its application in colon cancer.Objective: This study aimed to validate the safety and efficacy of the domestically produced Chinese minimally invasive Micro Hand S surgical robot system in complex surgery, such as robotic complete mesocolic excision (R-CME).Methods: From March 2018 to December 2018, 30 patients with right hemicolon cancer underwent R-CME with the Micro Hand S robot system. The operative findings, morbidities, oncological findings and unique characteristics were summarizedwere analyzed.Result: 12 patients with right hemicolon cancer and 18 patients with sigmoid colon cancer underwent RCME with the Micro Hand S robot system. During the study period, the median operative duration was 209 (range, 180-255) min, and the median estimated blood loss volume was 35 (range, 25-75) ml. The median number of lymph nodes harvested was 42 (21-77), and the median postoperative hospital stay was 5 (range, 4-7) days. According to the Clavien-Dindo classification, there were no severe complications except for 7 cases of grade I complications and 5 cases of grade II complications. The conversion rate for all operations was 0%. There were no cases of 30-day readmission or 30-day mortality. Conclusion: Clinical application of domestically produced Chinese minimally invasive surgical robot system “Micro Hand S ” in selected colon cancer patients is technically feasible and safe.

This research introduces an Intelligent Robotic Arm with Adaptive Collision Avoidance, employing real-time current fluctuation analysis for human-proximity detection. Precision and versatility in motors and actuators are given top priority in the robotic arm setup. Motor power lines are continually monitored by integrated high-precision current sensors, and a real-time data processing system separates natural fluctuations from those caused by outside influences. When a human comes into contact with the surface of the robotic arm, the system excels at detecting their closeness by identifying unique patternsin the variations of current. This sets off an adaptive collision avoidance system, which quickly flips the main power supply’s kill switch to bring the vehicle to an emergency stop. A crucial component is adaptability, as the system dynamically modifies sensitivity in response to environmental condi- tions. Comparative studies show that this approach performs better than conventional static sensing techniques. Experiments under control confirm the great precision, accuracy, and low false positive rate. The use of a failsafe technique improves system integrity by preventing false alarms and enabling recovery after an emergency

The paper provides a comprehensive review of the recent advancements and methodologies in Human-Robot Collaboration (HRC) applied to the manufacturing assembly process. In modern manufacturing, the assembly process involves intricate and time-consuming operations, often necessitating flexible manual interventions. However, the cost and stability issues associated with manual labor highlight the need for collaborative solutions integrating humans and robots. HRC, as a viable solution, involves the joint effort of humans and robots in manufacturing tasks, presenting advantages in terms of precision, reproducibility, and cycle time. This review categorizes and discusses methodologies such as task allocation, reinforcement learning, and Cyber-Physical Systems (CPS)-based planning approaches that facilitate HRC in the assembly process. It also explores experiments and future trends to address challenges and enhance efficiency in manufacturing assembly through intelligent collaboration between humans and robots. The objective of this research is to provide insights and directions for further research in HRC to optimize manufacturing processes. By analyzing the existing state-of-the-art and presenting future prospects, this paper aims to guide researchers and practitioners toward more effective implementations of HRC in manufacturing assembly, ultimately leading to improved operational efficiency and productivity.

The innovation driven Industry 5.0, in agreement with Industry 4.0, leads to consider human in a prominence position as the center of manufacturing field. This pushes towards the hybridization of manufacturing plants promoting a fully collaboration between human and robot. Furthermore, the new paradigm of "human centred design" and "anthropocentric design" allows enabling a synergistic combination of human and robot skills. However, properly collaborative workplaces are currently very few. Industry is still not confident, and systems integrators hesitate to venture into Human-Robot Collaboration (HRC). Despite the effort in collaborative robotics, a general solution to overcome the current limitations in designing of collaborative workplaces still misses. In the current work, a Knowledge-Based Approach (KBA) is adopted to face collaborative workplace designing problem. The framework resulting from the KBA allows developing a modelling paradigm that enable to define a streamlined approach for the layout designing of a collaborative workplace. Finally, a what-if analysis and a ANOVA analysis are performed to generate and evaluate a set of scenarios related to a collaborative workplace for quality inspection of welded parts. Facing the high complexity and multidisciplinary of HRC can be conveyed to develop a general design approach aimed at overcoming the difficulties that limit the spread of HRC in the manufacturing field.

Walking of humanoid robots is dependent on precise tracking of the center of gravity and foot trajectories. Trajectory tracking is achieved by mobilizing the robot joints to produce the correct trajectory. Errors are being occurred because of assumptions on tracking the center of gravity and the foot trajectories. In this study, a numerical algorithm has been developed that produces an exact and single kinematic solution in which the center of gravity and foot trajectories can be tracked with the desired precision. The effectiveness of the algorithm was examined with a dynamic simulation and compared with the method given in the literature The main highlight of this study, using the presented algorithm, the robot can walk even if the position of its center of gravity is lower than its hips, resulting tracking error was smaller than reported in the literature.

This paper presents experimental results of static and dynamic obstacle avoidance methods for a two-wheel mobile robot with independent control using a deep Q-learning (DQL) reinforcement learning algorithm. This is an alternative method that combines the Q-learning (QL) algorithm with a neural network. Neural networks in the DQL algorithm act as Q matrix table approximators for each pair (State - Action). The effectiveness of the proposed solution was verified through simulations, programming, and experimentation. This DQL algorithm is compared to the QL algorithm. First, the mobile robot communicated with the control script using the robot operating system (ROS). The mobile robot is code programmed using a Python in the ROS operating system combined with the DQL controller in Gazebo software. The mobile robot then performed experiments in a workshop with many different experimental scenarios. This DQL controller is improved in term of the computation time, convergence time, planning trajectory accuracy, and obstacles avoidance. Therefore, the DQL controller solved the path optimization problems for mobile robots better than the Q-learning controller.

In this paper is presented the design and syntheis of a dynamic output feedback neural network controller for a non-holonomic mobile robot. First the dynamic model of a non-holonomic mobile robot is presented, in which these constraints are considered for the mathematical derivation of a feasable representation for this kind of robot. Then two control strategies are provided based on kinematic control for this kind of robot. The first control strategy is based on driftless control, this means, that considering that the velocity vector of the mobile robot is orthogonal to its restriction a dynamic output feedback and neural network controller is designed in order that the control action would be zero only when the velocity of the mobile robot is zero. The Lyapunov stability theorem is implemented in order to find a suitable control law. Then another control strategy is designed for trajectory tracking purposes, which similar to the driftless controller, a kinematic control scheme is provided but suitable to implement in more sophisticated hardware. In both control strategy a dynamic control law is provided along with a feedforward neural network controller, so in this way, by the Lyapunov theory the stability and convergence to the origin of the mobile robot position coordinates is ensured. Finally, two numerical experiment are presented in order to validate the theoretical results synthetized in this research study. Discussions and conclusions are provided in order to analyze the results found in this research study.

Condition monitoring of industrial robots has the potential to decrease downtimes in highly automated production systems. We suggest a new health indicator based on vibration data measurements and compare its performance with state-of-the-art health indicators regarding different criteria. This evaluation is based on different data sets from robot test rigs. We find that the proposed health indicator can detect different faults, has low temperature sensitivity and works in instationary velocity regimes. A discussion of the validity of the results rounds up our contribution.

A nuclear reactor leak is undesirable and unpredictable occurrence in the plant of nuclear energy generation. For this reason, an accurate equipment is needed to inspect and supervise reactors. There are two kind of reactors for research and industry reactors, both of them are needed to inspect. Concern to inspection, regularly check is needed to ensure reactor conditions are always safe to operate. For that reason, an application of advanced technology for detecting leaks is priority. In this research, we are using underwater robot to be implemented. Using the robot is able to detect periodically, continuously with accurate reports to the operator or reactor supervisor. Furthermore, Underwater Robot namely Robaru, with 4 propellers equipped at the robot, Robaru can move on 3 axes x, y and z and rotate. The use of cameras, as well as temperature measurements to obtain data when conducting inspections of the reactor. The survey method used is direct observation to detect leaks. The robot is at a certain distance by following a predetermined connection or path. The robot has successfully performed a good check with an accurate level of positioning accuracy.

The ethics of invertebrate research have largely been ignored compared to the consideration of higher order animals, but more recent focus has questioned this trend. Using biohybrid robotic jellyfish as a case study, we examine the ethical considerations of invertebrate work and provide recommendations for future guidelines. This paper starts with an overview of philosophical views of animal ethics, the current state of knowledge for invertebrate pain and nociception, and current ethical guidelines. Next, we delve into the case study and analogous precedents. Specifically, in prior studies, we developed biohybrid robotic jellyfish, which modified live moon jellyfish with microelectronic swim controllers for future applications in ocean monitoring. Although jellyfish possess no central nervous system, pain receptors, or nociceptors, we closely monitored their stress responses, using the precautionary and minimization principles in consideration of the 4Rs: reduction, replacement, refinement, and reproducibility. We also discuss ethical considerations related to our studies and suggest that public opinion of invertebrate research relies heavily on repugnance, including fears of ‘playing God’ or limiting the ‘free will’ of animals. These issues are also examined for prior bioethics cases, such as the RoboRoach, cyborg beetle, ‘microslavery’ of microbes, biohybrid robots incorporating tissues from sea slugs (which are known to possess nociceptors), and other tissue cutting experiments involving soft-bodied invertebrates. However, biohybrid robotic jellyfish pose further ethical questions of potential ecological consequences as ocean monitoring tools, such as the impact of electronic waste in the ocean. To conclude these evaluations, we recommend that publishers require brief ethical statements for invertebrate research, which can include the following: a scientific justification for the research, discussion of the 4Rs, and cost-benefit analysis. We also delineate the need for more research on pain and nociception in invertebrates, which can then be used to revise or validate current research standards. These actions provide a stronger basis for the ethical study of invertebrate species, with implications for individual, species-wide, and ecological impacts on animals, as well as for interdisciplinary studies in science, engineering, and philosophy.

Positioning is an essential aspect of robot navigation, and visual odometry an important technique for continuous updating the internal information about robot position, especially indoors without GPS. Visual odometry is using one or more cameras to find visual clues and estimate robot movements in 3D relatively. Recent progress has been made, especially with fully integrated systems such as the RealSense T265 from Intel, which is the focus of this article. We compare between each other three visual odometry systems and one wheel odometry, on a ground robot. We do so in 8 scenarios, varying the speed, the number of visual features, and with or without humans walking in the field of view. We continuously measure the position error in translation and rotation thanks to a ground truth positioning system. Our result show that all odometry systems are challenged, but in different ways. In average, ORB-SLAM2 has the poorer results, while the RealSense T265 and the Zed Mini have comparable performance. In conclusion, a single odometry system might still not be sufficient, so using multiple instances and sensor fusion approaches are necessary while waiting for additional research and further improved products.

An easier method for the calibration of differential drive robots is presented. Most of the calibration is done on-board and it is not necessary to expend too much time taking note of the robot's position. The calibration method does not need a big free space to perform the tests. The bigger space is just in a straight line, which is easy to find. Results with the proposed method are compared with those from UMB as a reference, and they show very little deviation while the proposed calibration is much simpler.

Present paper is dealing with the adaptive static balancing of robot or other mechatronic arms that are moving in vertical plane and whose static loads are variable, by using counterweights and springs. Some simple passive and approximate solutions are proposed and an example is shown. The active and exact solutions by using adaptive real time control in the case of unknown variation of static loads are simulated on VIPRO platform developed at Institute of Solid Mechanics of Romanian Academy.

Maze navigation using one or more robots has become a recurring challenge in scientific literature and real life practice, with fleets having to find faster and better ways to navigate environments such as a travel hub (e.g. airports) or to evacuate a disaster zone. Many methods have been used to solve this issue, including the implementation of a variety of sensors and other signal receiving systems. Most interestingly, camera-based techniques have increasingly become more popular in this kind of applications, given their robustness and scalability. In this paper, we have implemented an end-to-end strategy to address this scenario, allowing a robot to solve a maze in an autonomous way, by using computer vision and path planning. In addition, this robot shares the generated knowledge to another by means of communication protocols, having to adapt its mechanical characteristics to be able to solve the same challenge. The paper presents experimental validation of the four components of this solution, namely camera calibration, maze mapping, path planning and robot communication. Finally, we present the integration and functionality of these methods applied in a pair of NAO robots.

As businesses increasingly adopt advanced technologies to enhance productivity and safety, the integration of human-robot collaboration (HRC) emerges as a transformative approach. This paper explores the role of GPU-accelerated computer vision and generative AI in optimizing HRC within business environments. By leveraging the computational power of GPUs, real-time data processing, and advanced machine learning algorithms, robots can better interpret complex visual cues and adapt to dynamic workspaces. Generative AI further enables the design of intelligent robotic systems capable of anticipating human actions, optimizing task allocation, and ensuring safety through predictive modeling. This research highlights the potential of these technologies to improve operational efficiency, reduce human error, and create safer, more adaptable workplaces. The implications of such advancements are discussed, providing insights into the future of HRC in various industries.

The human capital index is a multivariate variable used to measure the assessment of human resource productivity in the future. Human capital has a connection with economic development. Moreover, the study looks to analyses the relationship between Human Capital and Economic Growth indicators such as HCI and GDP. Human Capital relates to the development of individual skills to make them function more profitable for the national economy. The study was aimed at investigating the effect of population, the number of people engaged and the average annual hours worked by engaged persons on the human capital index. The analysis was in SPSS for the findings. Correlation tests were used for analysis. The study revealed that population, the number of people engaged and the average annual hours worked by engaged persons had a significant positive effect on the human capital index.

Glass cleaning is one of the major cleaning tasks in malls, offices, and modern households where the human workforce is still used for cleaning. Manual cleaning on façade glasses is a less safe, tedious, ineffective, and complex process. With the advancement of robot technology, it is possible to use robots for glass cleaning to facilitate mankind and improve cleaning efficiency. This work presents the development of a vacuum-type glass cleaning robot for façade cleaning and its performance analysis. The developed square-shaped robot is controlled by an Arduino Mega microcontroller, equipped with vacuuming and cleaning technology. An adhesion mechanism on the wheels makes the robot move forward and backward on the glass. The robot runs on a 24-volt DC with a power rating of 75 watts. There are ultrasonic sensors to detect obstacles and help the robot navigate. The robot uses a random-walk mechanism and works continuously for 90 minutes effectively. The performance of the robot has been analyzed in terms of coverage area, repeatability, and dust collection efficiency.

Imitation learning, also known as programming by demonstration, has been shown to be a promising paradigm for intuitive robot programming by non-expert users. However, the classical kinesthetic approach with physical hand guidance suffers from generalizability across different robot types and is impractical for demonstrating tasks with long horizons. Visual imitation learning enables the recording of multi-step tasks as a single continuous video, allowing non-experts to demonstrate tasks naturally. Existing approaches typically require a large amount of data to develop end-to-end deep learning models that map raw pixels to robot actions. This paper explores the application of visual imitation learning from one-shot demonstration, significantly reducing the data requirements and simplifying the programming process. To achieve this target, a framework is proposed to map hand trajectories to the robot end-effector, consisting of four essential components: hand detection; object detection; segmentation of the trajectories into elemental skills; and learning the skills. Methods are developed for each component and evaluated on recorded videos to demonstrate the effectiveness of the proposed framework.

In wheeled vehicles, there exists a challenge concerning the alignment of the front wheels during turns. When both wheels are turned to the same extent, the inner wheel experiences lateral slippage on the road surface, resulting in reduced steering efficiency. Such problems can be solved by using the Ackermann principle. There are two approaches: through the steering mechanism or by employing autonomous wheel control. From a technical standpoint, it is achievable to synthesize a steering mechanism that fulfills the Ackermann condition, ensuring as accurately as possible for any given turning radius. This research paper focuses on synthesizing a steering mechanism, specifically a two-circuit linkage that links the left and right wheels. The structure and kinematics of this mechanism are being investigated. Following the principles of Ackermann, an objective function for the kinematic synthesis of the mechanism has been formulated. The synthesis process of the mechanism is conducted using the analytical method of interpolation in four parameters. A dedicated method has been developed, and kinematic analysis of the mechanism using the synthesized parameters has been performed. The simulation results have demonstrated high accuracy in achieving the desired implementation of the Ackermann condition.