The emerging demographic trends toward an aging population, demand new ways and solutions to improve the quality of elderly life. These include, prolonged independent living, improved health care, and reduced social isolation. Recent technological advances in the field of assistive robotics bring higher sophistication and various assistive abilities that can help in achieving these goals. In this paper, we present design and validation of a low-cost telepresence robot that can assist the elderly and their professional caregivers, in everyday activities. The developed robot structure and its control objectives were tested in, both, a simulation and experimental environment. On-field experiments were done in a private elderly care center involving elderly persons and caregivers as participants. The goal of the evaluation study was to test the software architecture and the robot capabilities for navigation, as well as the robot manipulator. Moreover, participants’ reactions toward a possible adoption of the developed robot system in everyday activities were assessed. The obtained results of the conducted evaluation study are also presented and discussed.

In collaborative robotics, to improve human–robot interaction (HRI), it is necessary to avoid accidental impacts. In this direction, several works reported how to modify the trajectories of collaborative robots (cobots), monitoring the operator’s position in the cobot workspace by industrial safety devices, cameras, or wearable tracking devices. The detection of the emotional state of the operator could further prevent possible dangerous situations. This work aimed to increase the predictability of anomalous behavior on the part of human operators by the implementation of emotional intelligence (EI) that allows a cobot to detect the operator’s Level of Attention (LoA), implicitly associated with the emotional state, and to decide the safest trajectory to complete a task. Consequently, the operator is induced to pay due attention, the safety rate of the HRI is improved, and the cobot downtime is reduced. The approach was based on a vision transformer (ViT) architecture trained and validated by the Level of Attention Dataset (LoAD), the ad hoc dataset created and developed on facial expressions and hand gestures. ViT was integrated into a digital twin of the Omron TM5-700 cobot, suitably developed within this project, and the effectiveness of the EI was tested on a pick-and-place task. Then, the proposed approach was experimentally validated with the physical cobot. The results of the simulation and experimentation showed that the goal of the work was achieved and the decision-making process can be successfully integrated into existing robot control strategies.

This paper describes the control architecture of a 10 DOF (Degrees of Freedom) lower limbs exoskeleton for the gait rehabilitation of patients with gait dysfunction. The system has 4 double-acting rod pneumatic actuators (two for each leg) that control the hip and knee joints. The motion of each cylinder's piston is controlled by two proportional pressure valves, connected to both cylinder chambers. The control strategy has been specifically designed in order to ensure a proper trajectory control for guiding patient's legs along a fixed reference gait pattern. An adaptive fuzzy controller which is capable of compensating for the influence of the dry friction was successfully designed, implemented and tested on an embedded real-time PC/104. In order to verify the proposed control architecture, laboratory experiments without a patient were carried out and the results are reported here and discussed.

A test protocol is defined for the purpose of measuring rectus femoris mechanomyographic (MMG) signals. The protocol is specified in terms of the following: measurement equipment, signal processing requirements, human postural requirements, test rig, sensor placement, sensor dermal fixation, and test procedure. Preliminary tests of the statistical nature of rectus femoris MMG signals were performed, and Gaussianity was evaluated by means of a two-sided Kolmogorov-Smirnov test. For all 100 MMG data sets obtained from the testing of two volunteers, the null hypothesis of Gaussianity was rejected at the 1%, 5%, and 10% significance levels. Most skewness values were found to be greater than 0.0, while all kurtosis values were found to be greater than 3.0. A statistical convergence analysis also performed on the same 100 MMG data sets suggested that 25 MMG acquisitions should prove sufficient to statistically characterize rectus femoris MMG. This conclusion is supported by the qualitative characteristics of the mean rectus femoris MMG power spectral densities obtained using 25 averages.

The study of bio-inspired structures and their reproduction has always fascinated humans. The advent of soft robotics, thanks to soft materials, has enabled considerable progress in this field. Over the years, polyps, worms, cockroaches, jellyfish, and multiple anthropomorphic structures such as hands or limbs have been reproduced. These structures have often been used for gripping and handling delicate objects or those with complex unknown a priori shapes. Several studies have also been conducted on grippers inspired by the seahorse tail. In this paper, a novel biomimetic soft pneumatic actuator inspired by the tail of the seahorse Hippocampus reidi is presented. The actuator has been developed to make a leg to sustain a multi-legged robot. The prototyping of the actuator was possible by combining a 3D-printed reinforcement in thermoplastic polyurethane, mimicking the skeletal apparatus, within a silicone rubber structure, replicating the functions of the external epithelial tissue. The latter has an internal channel for pneumatic actuation that acts as the inner muscle. The study on the anatomy and kinematic behaviour of the seahorse tail suggested the mechanical design of the actuator. Through a test campaign, the actuator prototype was characterized by isotonic tests with an external null load, isometric tests, and activation/deactivation times. Specifically, the full actuator distension of 154.5 mm occurs at 1.8 bar, exerting a maximum force of 11.9 N, with an activation and deactivation time of 74.9 and 94.5 ms, respectively.