Arash Ajoudani

Researcher TT (TT1)

Contacts

+39 010 71781 466

About

Arash Ajoudani received his PhD degree in Robotics and Automation from Centro "E Piaggio", University of Pisa, and Advanced Robotics Department (ADVR), Italian Institute of Technology (IIT), Italy (14 July 2014). His PhD thesis was a finalist for the Georges Giralt PhD award 2015 - best European PhD thesis award in robotics. He is currently a tenure-track scientist and the leader of the Human-Robot Interfaces and physical Interaction (HRI2) lab of the IIT. He was a finalist for the best manipulation paper award at ICRA 2012, a winner of the best student paper award at ROBIO 2013, a finalist for the best oral presentation award at Automatica (SIDRA) 2014, and a finalist for the best interactive paper award at Humanoids 2016. He is the author of the book "Transferring Human Impedance Regulation Skills to Robots" and several publications in journals, international conferences, and book chapters.  He is currently serving as the executive manager of the IEEE-RAS Young Reviewers' Program (YRP), chair and representative of the IEEE-RAS Young Professionals Committee, and co-chair of the IEEE-RAS Member Services Committee. He has been serving as a member of scientific advisory committee and as an associate editor for several international journals and conferences such as IEEE RAL, Biorob, ICORR, etc. His main research interests are in physical human-robot interaction and cooperation, robotic manipulation, robust and adaptive control, rehabilitation robotics, and tele-robotics.

Projects

  • WEARHAPS - Wearable haptics for humans and robots. European Community’s Seventh Framework Programme (FP7-ICT-2011-9-2.1) under Grant Agreements n. 601165.
  • WALKMAN - Whole-body Adaptive Locomotion and Manipulation (FP7-ICT-2013-10)
  • SOMA - SOft-embodied intelligent MAnipulation (H2020 EU 2.1.1.5)
  • SoftPro- Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn (H2020 - 2016)

 

Selected Publications

 
Books
 
  • A. Ajoudani, "Transferring Human Impedance Regulation Skills to Robots", Tracts in  Advances Robotics Star, Springer, 2016.
Book Chapters
 
  • A. Ajoudani, S. Godfrey, N. G. Tsagarakis, A. Bicchi, "Teleimpedance Control: Overview and application", Springer Series on Touch and Haptic Systems, 2016.
  • DG Caldwell, A. Ajoudani, J. Lee, and N. Tsagarakis, "Intelligent, Adaptive Humanoids for Human Assistance", CRC Press, submitted.
 
Journal Papers
 
  1. A. Ajoudani, A Zanchettin, S. Ivaldi, A. Albu-Schaeffer, K. Kosuge, and O. Khatib "Progress and Prospects of the Physical Human-Robot Collaboration", Autonomous Robots, Special Issue on Learning for Human-Robot Collaboration, 2017, conditionally accepted.

  2. L. Peternel, N. Tsagarakis, D. Caldwell and A. Ajoudani, "Robot Adaptation to Human Physical Fatigue in Human-Robot Co-Manipulation", Autonomous Robots, Special Issue on Learning for Human-Robot Collaboration, 2017, conditionally accepted.

  3. L. Peternel, L. Rozo, D. Caldwell, and A. Ajoudani, "A Method for Derivation of Robot Task-Frame Control Authority from Repeated Sensory Observations", IEEE Robotics and Automation Letters (RA-L), Vol. 2, No.2, 2017.

  4. B. Huang, Z. Li, X. Wu, A. Ajoudani, A. Bicchi, and J. Liu, "Coordination Control of a Dual-arm Exoskeleton Robot Using Human Impedance Transfer Skills" IEEE Transactions on Systems, Man, and Cybernetics, 2017, accepted.

  5. S.Fani, S. Ciotti, M. Catalano, G. Grioli, A. Ajoudani, and M. Bianchi, "IntegratingWearable Haptics and Teleimpedance Methods for Augmented Human-Robot Interaction with Synergy-inspired Robotic Systems", IEEE Robotics and Automation Magazine (RAM), 2017, submitted.

  6. L. Peternel, N Tsagarakis, and A. Ajoudani, "A Human-Robot Co-Manipulation Approach Based on Human Sensorimotor Feedback", IEEE Transactions on on Neural Systems & Rehabilitation, 2017, accepted.

  7. A. Ajoudani, C. Fang, N. Tsagarakis, and A. Bicchi "Reduced-Complexity Representation of the Human Arm Active Endpoint Stiffness for Supervisory Control of Remote Manipulation", The International Journal of Robotics Research, 2016, Submitted.

  8. Z. Li, Z. Chen, A. Ajoudani, C. YANG, C. Yi Su, A. Bicchi, "Asymmetric Bimanual Coordinate Control of Dual-Arm Exoskeleton Robots for Human Cooperative Manipulations", IEEE Transactions on Robotics, 2016, accepted.

  9. A. Ajoudani, N. Tsagarakis, and A. Bicchi, "Choosing Poses for Force and Stiffness Control", 2017, IEEE Transactions on Robotics (TRO), accepted.

  10. N.G.Tsagarakis , D.G.Caldwell , A. Bicchi, F. Negrello, M. Garabini, W. Choi, L. Baccelliere, V.G. Loc, J. Noorden, M. Catalano, M. Ferrati, L. Muratore, A. Margan, L. Natale, E. Mingo, H. Dallali, A. Settimi, A. Rocchi, V. Varricchio, L. Pallottino C. Pavan, A. Ajoudani, J. Lee, P. Kryczka, D. Kanoulas, "WALK-MAN : A High Performance Humanoid Platform for Realistic Environments", Journal of Field Robotics, 2016.

  11. A. Ajoudani, S.B. Godfrey, M. Catalano, M. Bianchi, G. Grioli, N. Tsagarakis and A. Bicchi, "Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa-IIT SoftHand", IEEE Transactions on Haptics, Special Issue on Haptics in Rehabilitation and Neural Engineering, 7(2):203-15, 2014.

  12. N. Karavas, A. Ajoudani, N. Tsagarakis, J. Saglia, A. Bicchi and D. Caldwell, "Tele-Impedance based Assistive Control for a Compliant Knee Exoskeleton: Stiffness Augmentation and Motion Assistance", Robotics and Autonomous Systems, 2014.

  13. C. Castellini, P. Artemiadis, M. Wininger, A. Ajoudani, M. Alimusaj, A. Bicchi, B. Caputo, W. Craelius, S. Dosen, K. Englehart, D. Farina, A. Gijsberts, S. B. Godfrey, L. Hargrove1, M. Ison, T. Kuiken, M. Markovic, P. M. Pilarski, R. Rupp and E. Scheme, "Peripheral Machine Interfaces: going beyond traditional surface electromyography", Frontiers in Neurorobotics, 2014, accepted.

  14. A. Ajoudani, N. G. Tsagarakis, and A. Bicchi. Teleoperation with Impedance Regulation Using a Body-Machine Interface. International Journal of Robotics Research, 31(13), 1642–1655, 2012.

  15. A. Carrera, S. R. Ahmadzadeh, A. Ajoudani, P. Kormushev, M. Carreras and D. G. Caldwell, “Towards Autonomous Robotic Valve Turning”, Journal of Cybernetics and Information Technologies (CIT), vol. 12, no.3, 2012.

  16. A. Ajoudani  and A. Erfanian, “A Neuro-Sliding-Mode Control With Adaptive Modeling of Uncertainty for Control of Movement in Paralyzed Limbs Using Functional Electrical Stimulation,” IEEE Transactions on Biomedical Engineering, vol. 56, no. 7, pp. 140–147, July. 2009.

 

Conference Papers

 

  1. W. Kim, J. Lee, L. Peternel, N. Tsagarakis and A. Ajoudani, "Anticipatory Robot Assistance for the Prevention of Human Static Joint Overloading in Human-Robot Collaboration", IEEE International Conference on Intelligent Robots and Systems (IROS), 2017.

  2. M. Laghi, A. Ajoudani, M. Catalano1 and A. Bicchi, "A Bilateral Tele-Impedance Controller for Remote Interaction with Transmission Time Delay", IEEE International Conference on Intelligent Robots and Systems (IROS), 2017.

  3. C. Fang, A. Ajoudani, A. Bicchi, and N. Tsagarakis, "Online Model Based Estimation of Complete Joint Stiffness of Human Arm", IEEE International Conference on Intelligent Robots and Systems (IROS), 2017.
  4. W. kim, J. Lee, N. Tsagarakis, and A. Ajoudani, "A Real-time and Reduced-Complexity Approach to the Detection and Monitoring of Static Joint Overloading in Humans", International Conference on Rehabilitation Robotics (ICORR), 2017.

  5. L. Schiatti, J. Tessadori, G. Barresi, L. S. Mattos, and A. Ajoudani, "Soft Brain-Machine Interfaces for Assistive Robotics: A Novel Control Approach", International Conference on Rehabilitation Robotics (ICORR), 2017.

  6. M. Canesi, M. Xiloyannis, A. Ajoudani, A. Bicchi, L. Masia, "Modular One-to-many Clutchable Actuator for a Soft Elbow Exosuit", International Conference on Rehabilitation Robotics (ICORR), 2017.

  7. C. Fang, J. Lee, A. Ajoudani, C. Zhou, N. Tsagarakis, D. Caldwell, "RRT-based Motion Planning with Sampling in Redundancy Space for Robots with Anthropomorphic Arms", IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017.

  8. L. Peternel, N. Tsagarakis, D. Caldwell and A. Ajoudani, "Adaptation of Robot Physical Behaviour to Human Fatigue in Human-Robot Co-Manipulation", IEEE International Conference on Humanoid Robotics (Humanoids), 2016. Best Interactive Paper Award Finalist.

  9. L. Peternel, N. Tsagarakis, and A. Ajoudani, "Towards Multi-Modal Intention Interfaces for Human-Robot Co-Manipulation", IEEE International Conference on Intelligent Robots and Systems (IROS), 2016.

  10. C. Yang, P. Liang, A. Ajoudani, Z. Li, and A. Bicchi "Development of a Robotic Teaching Interface for Human to Human Skill Transfer based on EMG and IMU Sensor Fusion", IEEE International Conference on Intelligent Robots and Systems (IROS), 2016.

  11. L. Peternel, N. Tsagarakis and A. Ajoudani. "Robot Adaptation to Human Fatigue in Human-Robot Co-Manipulation", In 9th International Workshop on Human-Friendly Robotics (HFR 2016), Genova, Italy, Sep. 2016.

  12. N. Kashiri, A. Ajoudani, D. Caldwell, N. Tsagarakis, "Evaluation of Hip Kinematics Influence on the Performance of a Quadrupedal Robot Leg", International Conference on Informatics in Control, Automation and Robotics (ICINCO), 2016.

  13. A. Ajoudani, E. Hocaoglu, A. Altobelli, M. Rossi, E. Battaglia, N. Tsagarakis, A. Bicchi, "Reflex Control of the Pisa/IIT SoftHand during Object Slippage", IEEE International Conference on Robotics and Automation (ICRA), 2016.

  14. A. Brygo, I. Sarakoglou, A. Ajoudani, N. Hernandez, G. Grioli, M. Catalano, N. Tsagarakis, "Synergy-based interface for bilateral tele-manipulations of a master-slave system with large asymmetries", IEEE International Conference on Robotics and Automation (ICRA), 2016.

  15. C. YANG, P. Liang, Z. Li, A. Ajoudani, C. Su, and A. Bicchi, "Teaching by Demonstration on Dual-arm Robot using HRI Variable Stiffness Transferring ", IEEE International Conference on Robotics and Biomimetics, 2015.

  16. A. Ajoudani, C. Faneg, N. G. Tsagarakis, and A. Bicchi, "A Reduced-Complexity Description of Arm Endpoint Stiffness with Applications to Teleimpedance Control", IEEE International Conference on Intelligent Robots and Systems (IROS), 2015.

  17. M. Rossi, A. Altobelli, S. Godfrey, A. Ajoudani, and A. Bicchi, "Electromyographic Mapping of Finger Stiffness in Tripod Grasp: a Proof of Concept", International Conference on Rehabilitation Robotics (ICORR), 2015.

  18. A. Ajoudani, N. G. Tsagarakis, A. Bicchi, "On the Role of Robot Configuration in Cartesian Stiffness Control" IEEE International Conference on Robotics and Automation (ICRA), 2015.

  19. M. Bagheri, A. Ajoudani, J. Lee, DG. Caldwell and NG. Tsagarakis, "Kinematic Analysis and Design Considerations for Optimal Base Frame Arrangement of Humanoid Shoulders", IEEE International Conference on Robotics and Automation (ICRA), 2015.

  20. A. Ajoudani, J. Lee, A. Rocchi, M. Ferrati, E. Mingo Hoffman, A. Settimi, D. G. Caldwell, A. Bicchi, and N. G. Tsagarakis, "A Manipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task", IEEE-RAS International Conference on Humanoid Robots, Spain, 2014.

  21. J. Lee, A. Ajoudani, E. Mingo Hoffman, A. Rocchi, A. Settimi, M. Ferrati, A. Bicchi, N. G. Tsagarakis, and D. G. Caldwell, "Upper-body Impedance Control with Variable Stiffness for a Door Opening Task", IEEE-RAS International Conference on Humanoid Robots, Spain, 2014.

  22. M. Mosadeghzad, N. Karavas, A. Ajoudani, E. Spyrakos, N. Tsagarakis, DG. Caldwell, "Optimal Human-Inspired Ankle Stiffness Regulation for Humanoid Balancing Control", IEEE-RAS International Conference on Humanoid Robots, Spain, 2014.

  23. A. Ajoudani, N. G. Tsagarakis, and A. Bicchi, "Transferring Human Impedance Regulation Skills to Robots", Automatica, Bergamo, Italy, 2014. Best Oral Presentation Award Finalist.

  24. A. Ajoudani, J. Lee, A. Rocchi, M. Ferrati, E. Mingo Hoffman, A. Settimi, D. G. Caldwell, N. G. Tsagarakis, and A. Bicchi, "Dual Arm Impedance Control with a Compliant Humanoid: Application to a Valve Turning Task" IEEE International Conference on Intelligent Robots and Systems (IROS), Workshop on Compliant Manipulation: Challenges in Learning and Control, USA, 2014.

  25. C. Rosales, A. Ajoudani, M. Gabiccini and A. Bicchi, "Active Gathering of Frictional Properties from Objects", IEEE International Conference on Intelligent Robots and Systems (IROS), 2014.

  26. A. Ajoudani, N. Tsagarakis, J. Lee, M. Gabiccini, and A. Bicchi, "Natural Redundancy Resolution in Dual Arm Manipulation using Configuration Dependent Stiffness (CDS) Control", IEEE International Conference on Robotics and Automation (ICRA), 2014.

  27. N. Karavas, A. Ajoudani, N. Tsagarakis, and D. Caldwell, "Human-Inspired Balancing Assistance: Application to a Knee Exoskeleton", IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013. Best Student Paper Award.

  28. A. Ajoudani, SB. Godfrey, M. Catalano, G. Grioli, N. Tsagarakis and A. Bicch, "Teleimpedance Control of a Synergy-Driven Anthropomorphic Hand", IEEE International Conference on Intelligent Robots and Systems (IROS), 2013.

  29. SB Godfrey, A. Ajoudani, M. Catalano, G. Grioli, and A. Bicchi, "A Synergy-Driven Approach to a Myoelectric Hand", IEEE International Conference on Rehabilitation Robotics (ICORR), 2013.

  30. A. Ajoudani, M. Gabiccini, N. G. Tsagarakis, and A. Bicchi, "Human-Like Impedance and Minimum Effort Control for Natural and Efficient Manipulation", IEEE International Conference on Robotics and Automation (ICRA), 2013.

  31. N. Karavas, A. Ajoudani, N. Tsagarakis, J. Saglia, A. Bicchi and D. Caldwell, "Tele-Impedance based Stiffness and Motion Augmentation for a Knee Exoskeleton Device", IEEE International Conference on Robotics and Automation (ICRA), 2013.

  32. A. Ajoudani, M. Gabiccini, N. G. Tsagarakis, A. Albu-Schaeffer and A. Bicchi, "Tele-Impedance: Exploring the Role of Common-Mode and Configuration-Dependant Stiffness" IEEE-RAS International Conference on Humanoid Robots, Japan, 2012.

  33. A. Ajoudani, N. G. Tsagarakis, A. Bicchi, "Tele-Impedance: Towards Transferring Human Impedance Regulation Skills to Robots" IEEE International Conference on Robotics and Automation (ICRA), Minnesota, USA, 2012.Best Manipulation Paper Award Finalist.

  34. A. Ajoudani, N. G. Tsagarakis, A. Bicchi, " Tele-Impedance: Preliminary Results on Measuring and Replicating Human Arm Impedance in Tele Operated Robots" IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec. 2011.

  35. A. Ajoudani, N. G. Tsagarakis, A. Bicchi, " Tele-Impedance: An Approach  for skill Based Body Machine Interface ", The 4th international workshop on Human-Friendly Robotics (HFR-2011), University of Twente, Netherlands.

  36. A. Ajoudani, A. Bicchi, D. Caldwell, G. Grioli, P. Scilingo, N. Tsagarakis, G. Valenza, "Tele-Impedance: preliminary results on measuring and replicating human arm impedance in robots", Workshop “Towards Autonomous Physical Human-Robot Interaction” in the framework of ICRA2011. China.

  37. A. Ajoudaniand A. Erfanian, “Neuro-Sliding Mode Control with Modular Models for Control of Knee-joint Angle Using Quadriceps Electrical Stimulation” 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society August 2007–Lyon, France.

  38. A. Ajoudaniand A. Erfanian, “Neuro-Sliding Mode Control of Knee-Joint Angle by Using Quadriceps Electrical Stimulation” 11th Annual Conference of the International FES Society September 2006 – Zao, Japan. 

 

 
Organizations (selected)
 
  • IEEE IROS 2017 Workshop - L. Colasanto, A. Ajoudani, et al. "Learning for Collaborative Robotics: Enabling Flexible, Redeployable and Agile Industrial Applications"
  • IEEE ICRA 2017 Workshop - A. Ajoudani, K. Cho, T. Flash, E. Schearer "Assitive Robotics: From the Natural to the Artificial and Back Again".  
  • International Workshop on Human Friendly Robotics (HFR) 2016. Chair: A. Ajoudani, Co-chairs: N. Tsagarakis and J. Malzahn
  • IEEE ICRA 2016 Workshop - A. Ajoudani, B. Ugurlu, P. Artemiadis, and J. Morimoto "Human Robot Interfaces for Enhanced Physical Interactions"
  • IEEE ICRA 2016 Young Professionals Event.
  • IEEE IROS 2015 Young Professionals Event- Introducing IEEE-RAS Young Reviewers Program.
  • IEEE ICRA 2015 Lunch with Leaders.
  • IEEE IROS 2014 Lunch with Leaders.

 

 

Governence and Professional Service:

  • Associate Editor: IEEE Robotics and Automation Letters (RA-L); ICORR (2017,2015); Biorob(2016); etc.

 

Invited Talks (Selected)

  • June 2, 2017, Singapore, IEEE-RAS ICRA Workshop on Assistive Robotics: From the Natural to the Artificial and Back Again. Title of the talk: Intention-Aware Interfaces for Anticipatory Robot Assistance.
  • October 23, 2016, Italy, IEEE Industrial Electronics Society (IECON) workshop on Mechatronics & Motion Control. Title of the talk: “Human Intention Estimation for Dynamic Human-Robot Interactions”

  • October 10, 2016, Daejeon, Korea. IROS workshop on Human-Robot Collaboration: Towards Co-Adaptive Learning through Semi-autonomy and Shared Control. Title of the talk: Human-robot impedance interfaces for adaptive co-manipulation

  • August 25, 2016, Rimini, Italy. Meeting Rimini: "What’s Human About technology?"
  • December 22, 2015, Sestri Levante, Italy. Dynamic Interaction Control workshop. Title of the talk: On the Role of Robot Configuration in Cartesian Stiffness Control.
  • December 16, 2015, German Aerospace Center (DLR), Munich. Seminars on Automatic Control. Title of the talk: Towards Enhanced Physical Human-Robot-Environment Interactions.
  • October 16, 2015, L2S CentraleSupelec, Paris. Series of Invited Seminars on Automatic Control. Title of the talk: Physical Interactions in Humans and Robots.
  • September 1, 2015, Arenzano Italy. RIC-IITWorkshop on Robotic and Interactive Technologies for Neuroscience and Neurorehabilitation. Title of the talk: Motor Control Principles for Enhanced Physical Human-Robot-Environment Interactions.
  • September 2014, IEEE International Conference on Intelligent Robots and Systems (IROS). Workshop on Compliant Manipulation: Challenges in Learning and Control. Title of the talk: Dual Arm Impedance Control with a Compliant Humanoid: Application to a Valve Turning Task.
  • November 2013, IEEE International Conference on Intelligent Robots and Systems (IROS). Workshop on healthcare robotics and wearable systems. Title of the talk: On the role of teleimpedance control for efficient and intuitive control of the prosthetic and assistive devices.
  • June 2013, IEEE International Conference on Rehabilitation Robotics (ICORR). Workshop onPresent and future of non-invasive PNS-Machine Interfaces. Title of the talk: Tele-impedance control of a hand intended for prosthetic applications.

 

Press:

      A short bio published by the ANSA news agency - (20-05-2017)

      Interview by Rai2 - Voyager (23-04-2017)

      Interview by Radio24 - Smart City about SOMA project (21-3-2017)

      Meeting Rimini "What's Human About Technology" - Video (in Italian) and link to the page.

      Interview by La Republica (29-11-2015) [Video Link] [Article]

      Interview by Canale 5 (TG5), for the SoftHand Teleimpedance

      An article in TorinoScienza magazine about the SoftHand/Teleimpedance

      A video in Republica TV about the SoftHand/SoftHand-Teleimpedance

      An article in Le Science magazine about the SoftHand/SoftHand-Teleimpedance

      Softhand teleimpedance: Shaking hands with Italy's prime minister Matteo Renzi

      IMG 2059

 

     SoftHand/SoftHand-Teleimpedance in BBC Science Magazine, Italy. P. 55-56, January, 2014

   bbc science  

 
   
 Georges Girarlt PhD award Finalist 2015 - Best European PhD thesis in robotics

     2015 03 13 erf 30

   SoftHand/SoftHand-Teleimpedance in TG5 news (16-04-2015)      

    TG5 april2015

 

Awards

  • Best Interactive Paper Award Finalist, Humanoids 2016.

  • Georges Giralt Phd Award Finalist 2015 - Best European PhD Thesis in Robotics.

  • Best Oral Presentation Award Finalist, Automatica.it (SIDRA 2014).

  • Best Student Paper Award, ROBIO, 2013.

  • Best Manipulation Paper Award Finalist, ICRA, 2012.